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

doi:10.13190/j.jbupt.2014.04.004

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2014, Vol. 37 ›› Issue (4): 15-19.doi: 10.13190/j.jbupt.2014.04.004

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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

Abstract

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

CLC Number:

TP24

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.

References

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

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