信息技术
信息技術
신식기술
INFORMATION TECHNOLOGY
2009年
7期
1-5,9
,共6页
王晓亮%詹跃东%艾青%经坤
王曉亮%詹躍東%艾青%經坤
왕효량%첨약동%애청%경곤
V-AGV%差速转向%最优控制%线性二次型
V-AGV%差速轉嚮%最優控製%線性二次型
V-AGV%차속전향%최우공제%선성이차형
V-AGV%difference speed steering%optimal control%linear quadratic regulator (LQR)
简要地介绍了基于机器视觉导向的AGV两轮差速转向的原理和组成,并对计算机控制系统设计,图像信息识别等AGV控制问题进行了阐述.提出了一种采用最优控制方法对两轮差速转向进行控制.仿真和实验结果表明,采用最优控制方法对两轮差速转向进行控制,样车运行过程稳定,路径跟踪可靠,控制性能良好.
簡要地介紹瞭基于機器視覺導嚮的AGV兩輪差速轉嚮的原理和組成,併對計算機控製繫統設計,圖像信息識彆等AGV控製問題進行瞭闡述.提齣瞭一種採用最優控製方法對兩輪差速轉嚮進行控製.倣真和實驗結果錶明,採用最優控製方法對兩輪差速轉嚮進行控製,樣車運行過程穩定,路徑跟蹤可靠,控製性能良好.
간요지개소료기우궤기시각도향적AGV량륜차속전향적원리화조성,병대계산궤공제계통설계,도상신식식별등AGV공제문제진행료천술.제출료일충채용최우공제방법대량륜차속전향진행공제.방진화실험결과표명,채용최우공제방법대량륜차속전향진행공제,양차운행과정은정,로경근종가고,공제성능량호.
This paper introduces simply the principle and composition of a two-wheel difference speed steering AGV based on machine vision guiding, and states generally problems about the computer control system design, image information recognizing etc. The optimum controller design is put forward to control the two-wheel difference speed steering AGV. The simulation and experimental results show that the two-wheel difference speed steering AGV controlled by the optimum controller could move steadily, follow path reliably and get the control performances well.
