【摘要】 AGV在路径跟踪过程中容易受到各种因素的影响,比如侧移、滑移、地面摩擦力变化等,通过将AGV多输入多输出的运动学模型解耦为多个单输入单输出模型,并在用动态窗口法(DWA)实现路径跟踪的基础上,引入扩张状态观测器对系统总扰动进行实时估计,然后对动态窗口法得到的控制量进行扰动补偿,从而降低了AGV的轨迹跟踪误差。最后通过仿真实验验证了所提出方法的有效性。更多还原

【Abstract】 AGV is susceptible to various factors in the path tracking process,such as side shift,slip,and changes in ground friction.By decoupling the AGV multi-input multi-output kinematics model into multiple single-input single-output models,and on the basis of using dynamic window approach(DWA) to achieve path tracking,an extended state observer is introduced to estimate the total disturbance of the system in real time,and then the control amount obtained by the dynamic window approach is compensated for disturbance,thereby reducing the trajectory tracking error of AGV.Finally,simulation experiments verify the effectiveness of the proposed method.更多还原