The Study Of Autonomous Navigation System For AGVs Based On LQG

AGV is a typical kind of autonomous mobile wheeled robot, which has became an indispensable part of the Overall manufacturing, modern logistics, national defense science and technology under the modern science and technology environment. It has attracted great attention of the industry experts because of its because of its wide application potential, especially the guided way and the design of the controller as the key factor of AGV performance, has attracted more and more attention.For the AGV trajectory tracking control system with two wheels with different velocity, the mechanical structure, the hardware platform and the key function modules of the AGV system are designed,and the working principle and the algorithm of the key performance modules are summarized at first; Secondly,the drive motor speed mathematical model is established according to the experimental data fitted combined with system identification toolbox,and on the basis of fully considered the AGV model dynamics, the model of the AGV system is designed according to the constraint equations of planar movement; Again, a Linear-Quadratic-Gaussian controller is designed to correct the path errors in real time, the AGV control system consistes of double closed loop controller, the inner ring uses the simple PI control algorithm combined with the feedforward control algorithm for speed regulation,and the outer one adpoted LQG control algorithm to design guided controller, the LQG controller is established on the basis of the system state equation according to modern control theory,which is composed of the kalman filter and the linear quadratic optimal controller,the kalman filter estimates the quantity of output state and filters the random noise, the optimal controller is designed to calculate the system optimal control; Then, the performance of the controller in the trajectory tracking, resisting noise and robustness is analysised through the simulation,and the performance of the designed controller is verified from the the guided control test further more.The experimental results show that the infrared electric guided module with kalman filter has a high accuracy performance and can effectively suppress interference, and the LQG controller do well in tracking performance,it is feasible to adopt the controller for the AGV system.