【作者】 齐东流；

【导师】 肖本贤；

【作者基本信息】 合肥工业大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 路径规划是AGV(Automated Guided Vehicles)控制中的关键问题之一,也是AGV导航的基本环节之一。论文主要对静态已知环境下的全局路径规划、动态未知环境下的局部路径规划分别作了研究。 首先对AGV全局定位作了研究,并给出了激光全局定位测量机理和算法。在AGV运动时,三角定位算法难以确定AGV位置,论文采用扩展卡尔曼滤波器对此进行补偿。 其次在静态已知环境中,采用一种改进的可视图法建立环境模型;确定了AGV向目标点运动的有效路径;使用遗传算法进行全局路径规划,并用matlab对算法进行仿真,仿真结果表明该方法的可行性。 最后给出了动态复杂环境中AGV的路径规划。动态环境中AGV路径规划是一较难解决的问题,论文提出了一种基于速度障碍、碰撞危险度概念的动态环境模型,并在此基础上结合模糊神经网络给出了AGV的路径规划方法。最后在matlab中给出了在有静止和运动障碍物的动态环境中路径规划仿真结果,结果表明该方法是可行的。更多还原

【Abstract】 The problem of AGV’s path planning is a very important part of the control of AGV, and a basic part of the navigation of AGV. The paper mainly focuses on the study of the global path planning in the static known environment, and the study of the local path planning in the dynamic unknown environment.The first part analyses the space-location of the AGV. A laser scanning location mechanism and algorithm are presented to locate AGV’s position in the paper. Because the triangulation algorithm is difficult to implement path planning when AGV moves around, the extended Kalman Filter is used in the localization compensation.The second part proposes global path planning of AGV in the static known environment. The paper uses an improved method of the visibility graph to establish environment model, also a method of AGV global path planning with Genetic algorithm is presented. At last, AGV global path planning simulation is carried out in the environment with static known obstacle by matlab, and the result indicates that the method is feasible.The final part proposes the local path planning of AGV under the dynamic unknown environment. In the dynamic environment, the problem of AGV dynamic path planning is difficult to solve. The paper proposes a mathematical model of dynamic environment based on velocity obstacle and the concept of risk degree of collision, also a method of AGV path planning with fuzzy neural network is presented. At last, AGV dynamic path planning simulation is carried out in the environment with immobile and mobile obstacle, the simulation result indicates that the method is feasible.更多还原