基于Matlab/Simulink的港口AGV运动控制仿真

摘要

本文针对港口四轮转向自动导引车（Automated Guided Vehicle，AGV）在运动运动过程中受到的滚动约束和刚体约束，推导AGV运动学方程。基于运动学方程，在Simulink里建立AGV运动的仿真模型。对于运动过程中由执行机构的惯性特性和外界干扰等带来的轨迹跟踪误差，采用对称转向和斜行的方式来补偿。%The paper derives the kinematic equations of AGV with four-wheel steering, using the rolling constraints and rigid constraints of AGV. Based on the kinematic equation, the simulation model of AGV motion is established in Simulink. The tracking errors, caused by inertia characteristics of actuators and external disturbance, can be eliminated using oblique and sym-metric turn in the moving process of vehicle.