差速转向农业专用AGV小车的设计与模糊控制研究

农业专用自动导引小车(AGV)作为农业作业的通用运载平台,是针对具体应用环境而设计的特定用途机器人,已成为农业自动化的一个重要发展方向。为此,介绍了一种基于多轴运动控制器的现代农业自动化AGV小车。同时,针对差速转向驱动型AGV小车路径跟随问题,首先对该AGV系统进行了理论分析和运动学建模;然后应用模糊控制理论,设计了以距离偏差和角度偏差为输入、左右驱动轮速度差为输出的模糊控制器;最后,在Mat Lab/Simulink环境中进行仿真验证。仿真结果表明:设计的模糊控制器在直线和圆周路径上跟踪性能明显优于常规PID控制器,其有效性和可行性得到了验证。

Study on Fuzzy Control of an Agricultural Dedicated AGV with Differential Steering

As a common platform for agricultural operations , agricultural automatic guided vehicle ( AGV ) is a kind of robot that is particularly designed for specific application environment .It is becoming more and more important in agricul-tural automatic .An AGV used in automation of modern agriculture based on multi axis motion controller is proposed .Ai-ming at AGV path following problem ,a kinematic model of the AGV is established and analyzed .Then a fuzzy controller with distance deviation and angle deviation as inputs , difference of left and right wheel ’ s speed as output is designed , based on fuzzy control theory .Finally , the control system is simulated in the simulink module of the Matlab platform . The results indicated that the system follows in the linear and circular path on a clear advantage than the conventional PID control system .Its effectiveness and feasibility has been verified .