自动引导车辆(AGV)定位停车的控制

建立了后轮驱动、前轮转向自动引导车辆的定位停车运动学模型，基于这一模型提出了经过两步消除定位停车误差的控制策略。根据极小值原理探讨了Ｐｉｎｇ－Ｐｉｎｇ控制算法，车辆以最佳方式消除停车误差应切换控制的状态轨迹，以及消除停车误差车辆应行驶的最短距离。还分析了车辆当前位置到预定停车位置之间的距离对实施该控制策略的影响，提出了超前给出定位停车标志的必要性。

A Control Strategy for AGV to Stop at a Specified Location

A mathematics model of AGV with a single front steering wheel for stopping at a specified location is established in this paper.Based on the model developed,a control strategy with two steps is investigated.According to optimal control principle,Ping Ping control algorithm is used to eliminate vehicle's errors from current position to the expected location,the switching line of control action and the minimum moving distance are given by using this algorithm.Since the vehicle needs to move the minimum distance to eliminate all error being away from the given path,the stopping mark ahead of the expected location is required so as to achieve the satisfied results.