AGV intelligent path planning and fuzzy control method
A path planning, fuzzy control technology, applied in vehicle position/route/height control, non-electric variable control, control/regulation system, etc., can solve the problems of low reliability and accuracy, and improve reliability and accuracy Effect
Inactive Publication Date: 2021-07-09
安歌智慧科技(上海)有限公司
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[0005] In view of the above-mentioned shortcomings existing in the prior art, the present invention provides an AGV intelligent path planning and fuzzy control method, which can effectively overcome the defects of relatively low reliability and accuracy when moving along the travel track in the prior art
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[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0034] An AGV intelligent path planning and fuzzy control method, such as figure 1 and figure 2 As shown, according to the pose of the starting point and the target point, plan the running trajectory of the AGV, including:
[0035] Let the pose of the starting point be S=(x 1 ,y 1 , θ 1 ), the pose of the target point is E=(x 2 ,y 2 , θ 2 ), then the t...
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The invention relates to AGV path planning, in particular to an AGV intelligent path planning and fuzzy control method, which comprises the following steps of: planning a moving track of an AGV according to poses of a starting point and a target point, calculating a pose deviation of the AGV in a moving track tracking process, obtaining a position deviation and an angle deviation, defining a fuzzy system rule base, and according to actual operation experience of the AGV, setting an actual steering wheel angle correspondingly output by the position deviation and the angle deviation, performing fuzzy membership processing on the position deviation and the angle deviation, inputting the position deviation and the angle deviation into a fuzzy system rule base to obtain an actual steering wheel angle output, adjusting the pose of the AGV according to the actual steering wheel angle by a steering wheel controller, judging whether the AGV reaches a target point or not, and returning to S2 if the AGV does not reach the target point; according to the technical scheme provided by the invention, the defects of relatively low reliability and accuracy during movement along the advancing track in the prior art can be effectively overcome.
Description
technical field [0001] The invention relates to AGV path planning, in particular to an AGV intelligent path planning and fuzzy control method. Background technique [0002] Automated Guided Vehicle AGV (Automated Guided Vichel) refers to a transport vehicle with an automatic guidance system that can automatically generate a trajectory according to the specified trajectory or according to the starting point and target point and move according to the trajectory, and has certain safety protection. . Automatic guided vehicle AGV integrates sound, light, electricity, and computer technologies, and integrates advanced theories and application technologies in the field of science and technology. It is widely used in flexible manufacturing systems and automated factories. It has high transportation efficiency, energy saving, reliable work, and It realizes the advantages of flexible transportation and greatly improves the degree of automation and production efficiency. [0003] The...
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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214
Inventor 姜跃君蔡亚
Owner 安歌智慧科技(上海)有限公司