基于激光传感器定位的非完整AGV导引控制-《集美大学学报（自然科学版）》

文章信息/Info

Title:: Guidance Control of Nonholonomic AGV with Location Based on Laser Sensor

Author(s):: YANG Suzhen; (School of Mechanical Engineering,Zhangzhou Institute of Technology,zhangzhou 363000,China)

摘要:: 针对非完整AGV（automatic guided vehicle）复杂非线性系统的高精度自由路径导引控制问题，提出一种基于激光传感器定位的路径跟随控制方法。首先在SerretFrenet 框架下建立AGV路径跟随运动学误差模型；然后基于Lyapunov直接法设计渐进稳定路径跟随控制器，解决AGV非完整约束控制的困难。最后采用多点激光反馈三角测量方法，实现AGV的精确实时定位。仿真结果表明，该控制器能够快速消除路径跟随误差，AGV系统运行平稳，能够精确跟随规定路径。

Abstract:: A path following control method based on laser sensor location is proposed for the high precision free path guidance control of the nonholonomic AGV complex nonlinear system.Firstly,the AGV path following kinematic error model was established under the Serret-Frenet framework,and then the progressive stabilization path following controller was designed based on the direct Lyapunov method to solve control difficulties with AGV nonholonomic constraint.Furthermore,accurate real-time positioning of AGV was realized by multipoint laser feedback triangulation.The simulation results show that the AGV system runs smoothly and can follow the specified path accurately based on the proposed controller.