作　　者： ; ; ; ; ;

机构地区： 浙江师范大学工学院

出　　处： 《轻工机械》 2013年第1期40-43,共4页

摘　　要： 为有效使用有限的电池容量,实现无人驾驶车(AGV)在轨迹跟踪过程中的能量优化,针对三轮AGV的特点首先建立了其运动学跟踪模型及电机能耗模型,然后运用Lyapunov稳定性分析方法、最优化理论及Backstepping技术等工具研究了求解算法,提出了一种基于能量优化的轨迹跟踪控制方法,实现AGV轨迹跟踪和能量优化的统一控制。该控制策略对所有AGV及其他轮式移动机器人具有一般性,且设计方法简单、鲁棒性强。计算机模拟仿真结果验证了该控制器的有效性。 In order to use the limited battery power effectively and obtain energy optimization, according to the characteristics of three-wheeled AGV, the paper built the kinematics tracking and energy consumption models firstly. Then studied algorithm solution with the tools of Lyapunov stability analysis method, optimal theory and Backstepping technique, and proposed a tracking control method based on energy optimization. The designed control strategy has strong robustness, simplicity as well as generality for kinematics model of other wheeled mobile robots. Furthermore, the computer simulation results verified the validity of the proposed control method.

关 键 词： 物流 能量优化 轨迹跟踪 无人驾驶车

领　　域： [自动化与计算机技术] [自动化与计算机技术]