视觉导引AGV分段预测控制模型设计

doi:10.13190/j.jbupt.2014.04.004

北京邮电大学学报 ›› 2014, Vol. 37 ›› Issue (4): 15-19.doi: 10.13190/j.jbupt.2014.04.004

视觉导引AGV分段预测控制模型设计

张经天¹, 庄植均², 李忠明¹, 杨福兴¹

1. 北京邮电大学自动化学院, 北京 100876;
2. 北京邮电大学计算机学院, 北京 100876

收稿日期:2013-09-04 出版日期:2014-08-28 发布日期:2014-08-09
作者简介:张经天（1987-），男，博士生，E-mail：buptzjt@163.com；杨福兴（1964-），男，教授，博士生导师.
基金资助:
中央高校基本科研业务费专项资金资助项目（2012RC0505）

Model Design for the Sectionalize Predictive Control Based on Vision-guided AGV

ZHANG Jing-tian¹, ZHUANG Zhi-jun², LI Zhong-ming¹, YANG Fu-xing¹

1. Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China;
2. School of Computer Science, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received:2013-09-04 Online:2014-08-28 Published:2014-08-09

摘要/Abstract

摘要：

针对视觉导引自动导引车的路径跟踪问题，提出了一种采用预测控制理论的分段控制模型. 利用不等式约束对控制问题进行分段，首次提出以转弯半径为约束条件，解决了优化过程目标函数权重选择困难的问题. 在每个控制阶段，采用单步预测方法找到最优的目标点，在输入约束和状态约束下用解析方法直接解出最优控制量，提高了解最优问题的速度. 整个控制模型及方法目标明确，计算快速且计算量小，完全可以满足实时控制的需要，仿真结果证明了预测模型的有效性.

关键词: 视觉导引, 分段控制, 预测控制, 数学建模

Abstract:

A model of sectionalize control based on predictive control was presented for problems of vision-guided AGV path tracking. Control problems with inequality constraints were sectioned. The turning radius as constraint conditions was made, so that, the problem of the selection of objective function weights during the optimization process is solved. In each control period, a single-step prediction method was used to find the optimal target point, and obtain the optimal control variables directly by analytical methods under the input constraints and state constraints. The speed of the optimization problem is improved. This method fully meets the need of real-time controls, and it is used to calculate and small amount of computation. The validity of the model predictive is proved by the Simulation results.

Key words: vision-guided, sectionalize control, predictive control, mathematical modeling

中图分类号:

TP24

张经天, 庄植均, 李忠明, 杨福兴. 视觉导引AGV分段预测控制模型设计[J]. 北京邮电大学学报, 2014, 37(4): 15-19.

ZHANG Jing-tian, ZHUANG Zhi-jun, LI Zhong-ming, YANG Fu-xing. Model Design for the Sectionalize Predictive Control Based on Vision-guided AGV[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2014, 37(4): 15-19.

参考文献

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视觉导引AGV分段预测控制模型设计

Model Design for the Sectionalize Predictive Control Based on Vision-guided AGV

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