Research On Path Planning And Trajectory Tracking Of Rescue Automated Guided Vehicle

In large and complex disasters and accidents such as earthquake,collapse and fire,firefighters often need entering some dangerous or inaccessible places,the rescue work is difficult and the fire-fighting task intensity is high.Automated guided vehicle(AGV)is a wheeled robot,which can be used as an important auxiliary tool in complex environment to continue to complete the fire rescue work of rescue task under the condition that human beings cannot work.It is of great significance to reduce casualties and improve rescue efficiency.As the motion control technology of AGV,path planning and trajectory tracking are the premise for the car to complete all kinds of rescue tasks independently.Therefore,this paper makes a series of research based on the path planning and trajectory tracking of AGV,and designs the control algorithms respectively,so as to achieve the purpose of high efficiency and accuracy in the process of performing the rescue task.Firstly,according to the rescue conditions,the appropriate driving mode and structure of AGV were selected.After analyzing the modeling conditions of the car,the kinematics model of the AGV with four-wheel differential structure is established,which provides a model basis for the subsequent research on the accurate trajectory tracking of the rescue AGV.Secondly,the current research status of various algorithms of AGV path planning is analyzed,and the artificial potential field method is determined to plan the path in real time when some environmental information is unknown and there are many obstacles;Based on the inherent defects of artificial potential field method,such as local minimum point,unreachable target and unable to avoid obstacles dynamically,an improved artificial potential field method is obtained to ensure fast obstacle avoidance and efficient path planning.In the rescue environment,the obstacle distribution is random and complex,and there may be some dynamic obstacles,the simulation is carried out to verify the effectiveness and accuracy of the path planning based on the improved artificial potential field method.Then,aiming at the problem of AGV trajectory tracking control in the complex post-earthquake environment,various algorithms of AGV trajectory tracking are analyzed.Since the traditional control method can not meet the multi parameter nonlinear system,the fuzzy control algorithm without establishing an accurate model is selected.This chapter introduces the basic theory of fuzzy control,then designs the fuzzy controller according to the basic theory,and builds the simulation model in Simulink.Finally,a fuzzy-predictive control method based on fuzzy tracking controller is proposed.Aiming at the defects of low control accuracy and poor dynamic quality in the fuzzy algorithm,the model predictive control algorithm is used to make up for it.The model predictive control is added to the feedback link of the fuzzy controller,and the fuzzy-predictive controller is designed.The tracking accuracy of the controller is verified by simulation in Simulink.By comparing the tracking error and convergence time before and after adding model predictive control,it is verified that the trajectory tracking control using fuzzy prediction can be further optimized in terms of rapidity and stability.53 figures,9 tables,80 references...