【摘要】 介绍了基于视觉导航的路径识别算法,该算法能够较好地计算出自动引导车的相对位置,并通过相对位置信息,运用模糊-最优控制策略来实现自动引导车的路径跟踪控制。不同条件下所做的大量仿真计算均表明,基于视觉导航的模糊-最优控制器工作稳定、切换平滑、跟踪控制误差小且有较好的抵抗外界噪声干扰能力。更多还原

【Abstract】 This paper introduced a novel path recognition algorithm based on vision navigation.The position parameters of the automatic guide vehicle(AGV) can be obtained by using the algorithm.Thus,based on the position information of the AGV,a fuzzy-optimal control strategy was presented to carry out the path-tracking task.Under different conditions,the simulations show that the fuzzy-optimal controller,based on vision navigation,can satisfy the demands of real time path-tracking.And the results also show that the controller has the performance of stable work,smooth switch,small tracking error and good noise-proof feature.更多还原