电脑与电信
電腦與電信
전뇌여전신
COMPUTER & TELECOM
2013年
7期
42-44
,共3页
STM32%AGV%最优控制%轨迹跟踪
STM32%AGV%最優控製%軌跡跟蹤
STM32%AGV%최우공제%궤적근종
STM32%AGV%optimum control%path tracking
针对基于 STM32硬件平台的 AGV(Automated Guided Vehicle，自动导引车)，其导向控制算法是系统设计的主体部分，AGV 使用超声波和红外光电导向传感器对外部环境信息进行采集，采用 LQR(Linear Quadratic Regulator，二次型线性最优)控制算法设计导向控制器调节速度从而实现对导引路径的跟踪，路径信息和控制命令的交互通过无线通信系统实现。
針對基于 STM32硬件平檯的 AGV(Automated Guided Vehicle，自動導引車)，其導嚮控製算法是繫統設計的主體部分，AGV 使用超聲波和紅外光電導嚮傳感器對外部環境信息進行採集，採用 LQR(Linear Quadratic Regulator，二次型線性最優)控製算法設計導嚮控製器調節速度從而實現對導引路徑的跟蹤，路徑信息和控製命令的交互通過無線通信繫統實現。
침대기우 STM32경건평태적 AGV(Automated Guided Vehicle，자동도인차)，기도향공제산법시계통설계적주체부분，AGV 사용초성파화홍외광전도향전감기대외부배경신식진행채집，채용 LQR(Linear Quadratic Regulator，이차형선성최우)공제산법설계도향공제기조절속도종이실현대도인로경적근종，로경신식화공제명령적교호통과무선통신계통실현。
The AGV (Automated Guided Vehicle) is based on STM32 hardware platform.The main part of the system is the design of control algorithm.Ultrasonic sensor and infrared electric orientation sensor are used to collect the external environment information.The linear quadratic optimal control algorithm is used to design controller to adjust speed so as to realize the direct path tracking.The interaction of path information and control command is implemented with the wireless communication system.
