基于智能控制的agv路径规划研究

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1、基于智能控制的AGV路径规划研究摘要路径规划晟AGV(AutomatedGuidedVehicles)控制中的关键问题之一，也是AGV导舰的基本环节之一。论文主要对静态已知环境下的全髑路径规划、动态来知环境下静禺郝路径蕊戴分裁作了磷究。酋先对AGV全局定位作了研究，并绘出r激光全脚定位测量机理积算法。在AGV运动辩，三是定位算法鼹潋确定AGV位萎，谂文采翻扩展卡氖照滤波嚣对照进行{}偿。蒸次在静态已-知环境中，采用～种改进的可观图法建立环境模型；确定了AGV彝蠢标点运动豹有蓉臻经；镬甭遗传雾法送嚣全屠踺径蟪簿，莠翔matlab薅箕法进行仿真，仿真结槊表明该方法的可行性。簸螽给出了动态复杂

2、环境中AGV韵路径规翊。动态环境中AGV路径攒划是一较难勰淡豹溺透，论文疆交了～秘基于速度薄礴、碰攘危险度褫念兹动态环壤模型，并在此罐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粪结暴，结巢表嘲该方法楚可李亍豹。关键词：AGV,全局定位；全局路径舰划；遗传算法；速度障碍；碰撞危险度；模糊享孛经网络；髑部踌经规划ResearchonAGVPathPlanningBased—onIntelligentControlAbstractTheproblemofAOV’spathplanningisaveryimportantp

3、artofthecontrolofAGV．andabasicpartofthenavigatio／1ofAGV．Thepapermainlyfocusesonthestudyoftheglobalpathplmminginthestaticknownemdronment。andthestudyofthelocalpathplamfinginthedynamicunknownenviromment．’Fhefirstpartanalysest11espace．10cmionoftheAGV。Alaserscamaing{ocationmeclmnismandalgorithmarcpres

4、entedtolocateAGV’spositionhthepaper．Becaascthetriangulationalgorithmisdi饿culttOimplementpathplanningwhenAGVmovesaround．theextendedKahnanFilterisusedin氆elocalizationcompensation。ThesecondpartproposesglobalpathplanningofAGVinthestaticknownenviromnent．Thepaperuses强improvedmetbodofthe峨sibfli弹graphtoe

5、stablishenvironmentmodel，alsoahiethodofAGVglobalpathplanningwi儇Geneticalgorithmispresented．Atlast。AGVglobalpathplanningsimulationiscarriedouti13．theenvironmentwithstaticknownobstaclebymatlab．and穗eresultindicatesthatthemethodisfeasible+ThefinalpartproposesthelocalpathplanningofAGVunderthedynamicun

6、knowncnvironment，Inthedynamicenvironment。theproblemofAGVdynamicpathplarmingisdifficulttosolve．ThePaperproposesamathematicalmodelofdynamicenvironmentbased0nvelocityobstacleandtheconceptofriskdegreeofcollision。alsoamethodofAGVpathplarmingwithfuzzyneurainetworkispresented．Atlast，AGVdynamicpathplanni

7、ngsimulationiscarriedoutintheenvironmentwithimmobileandmobileobstacle，thesimulationresultindicates也atthemethodisfeasible．Keywords：AGV；space—location；globalpathplanning；geneticalgorithms；velocityobstacle；riskdegreeofcol