Exploring Single Steering Wheel AGV Path Tracking Controller
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摘要: 针对单舵轮AGV路径跟踪问题，建立了其运动学模型和位姿误差模型，以位姿误差和前馈控制作为输入，以舵轮速度和舵轮偏转角作为输出，设计了单舵轮AGV的路径跟踪控制器。考虑到参考路径在直线与标准圆弧过渡处的曲率突变对单舵轮AGV路径跟踪精度和平稳性的影响，设计了一种基于连续曲率曲线的局部路径规划方法，并应用于路径跟踪控制器中。通过仿真和样机实验，单舵轮AGV在稳定状态左右摆差可达，验证了该控制方法的有效性和可行性。Abstract: The kinematics model and attitude error model of the single steering wheel AGV path tracking problem are established. Then, using the attitude error and feedforward control as input and the steering wheel speed and the steering wheel deflection angle as output, the single steering wheel AGV path tracking controller is designed. Considering the influence of the curvature mutation of the reference path at the transition between the straight line and the standard arc on the tracking precision and stability of the single steering wheel AGV path, a local path planning method based on continuous curvature is designed and applied to the path tracking controller. Finally, the simulation and prototype experimental results show that the single steering wheel AGV has a swing of about in its steady state, thus verifying the effectiveness and feasibility of the tracking controller.
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Key words:
- path tracking /
- single steering wheel AGV /
- local path planning /
- continuous curvature
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表 1 控制参数的敏感性分析表
参数 数值 调整幅度 最大跟随位姿误差 e1/m e2/m e3/rad 2.25 -10% -0.2403 -0.5 1.0032 k1 2.5 0 -0.2463 -0.5 1.0113 2.75 10% -0.2514 -0.5 1.0183 21.6 -10% -0.2379 -0.5 0.9511 k2 24 0 -0.2463 -0.5 1.0113 26.4 10% -0.2536 -0.5 1.0681 1.8 -10% -0.2516 -0.5 1.0670 k3 2 0 -0.2463 -0.5 1.0113 2.2 10% -0.2411 -0.5 0.9511 
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