Research On Trajectory Tracking System Of Car-liKe Automatic Guided Vehicle

Amo ng t he rob ots,mob ile robot is t he earlie r t ype,whic h ha s bee n grad ua lly app lie d in var io us fie lds.Auto mated Guided Vehic le(AGV),a s one o f the w hee led mo b ile ro bot,w hic h is a collect io n based o n mec ha nic s,e lectr o nic s,sensor,tele c o mmu nic a t io ns,a rt ific ia l inte llige nce.It co ns ists o f t he func t io n o f pe rcept io n,t rajectory pla nning a nd dec is io n ma k ing,whic h ca n be ac hie ved to dr ive in accord ance w it h t he pro vis io ns o f t he guid ing line e q uipped w it h t he ab ilit y of a nt i-ja mmin g a nd targe t reco gnit io n.G ive n t hes e adva nta ges,AGV has an ad va nta ge i n ma nufac t ur ing a ut o mat io n,auto-po rts and airpo rts,tobacco,me d ic ine,food and kinds o f dange ro us p laces a nd s pe c ia l ind ust r ies.In t he auto mat ic termina l ha nd ling s yste m,it is a fully-a uto mat ic ha nd ling too l fo r c onta iners' horiz o nta l tra nspo rtat io n,and it is an i mporta nt part of t he un ma nned operatio n o f t he c onta iners ya rd.Taking into a c c ount t he hu ma n fact ors,weather a nd labo r costs,the deve l op me nt a nd a pp licat io n o f AG V he lp us to i mpro ve t he e ffic ie nc y and red uc e t he r isk o f accide nts.T his pa per will foc us on t he traje c tor y track i ng co nt ro l researc h of car-like fo ur-w hee led AG V.First o f all,Back-stepp ing met hod is cons idered to be adopted based on t he kine ma t ics mode l o f AG V.This me t hod designs t he traje c tor y track ing contro l law thro ugh t he introd u ctio n o f a ne w virt ua l co ntro l objec t ive.Ac c ord ing to Lya puno v s tab ility c r ite r io n,AGV s ys te m ha s pro ved globa lly stable under t he cont ro l law,the n t he s imu la t io n e xpe r ime nt is carr ied o ut.Se c ond ly,t his pape r co nce ntra tes o n S huffled Fro g Leap ing Algorit h m.I mp ro ved S huffled Fro g Leap ing Algo r it h m(IS FLA)is p ut forwar d a imed at the fa c t t hat it te nds to be tra pped into loca l opt i ma l.The test func t io n has been us ed to check o n t he optima l pe r fo rma nce,and t he c onve rge nce o f IS FLA is a na lyzed.T he si mula t io n results show t hat t he track ing pre c is io n for t he target traject or y is impro ved.Fina lly,t he kine ma t ics mode l a nd dyna mics mode l o f AGV a re c o mb ine d,fo r the AGV initia l pos it io n e rror jump prob le m,t he cascade c ont ro l is p ut forwar d bas ed on t he t hird c hapte r co nte nts.For o uter la ye r c ont ro l,Back-ste pp ing met ho d is t he strate gy to des ign t he o uter co nt ro lle r,a nd t he inne r la yer c ontro l is pla nne d to emp lo y the driving force,whic h takes actio n by s lide mode va r iab le s tructure c ont ro ller.T he higher co ntro l a c c ura c y de ma nd is expected to meet t hro ugh t his metho d.In the des ign o f s lid ing mo de var ia b le str uct ure co ntro l law,hype rbo lic ta nge nt funct io n is introd uced to rep lace sign funct io n,a nd t he met hod o f fuzz y sw itc hin g ga in w ill be reco mme nded to e limina te the c ha tte ring c a us e d b y t he slid in g mo de va r iab le st r uct ure co ntro l s ys te m.All t he meas ures a re e xpecte d t o e ns ure the s moot h running sta te o f t he system.