基于改进leader-follower策略的AGV多驱动单元协同控制

摘要

A coordinated control technique based on the virtual structure method and the leader-follower strate gy is presented for multiple driving units of an automated guided vehicle (AGV) in this paper.First,the virtual structure method is used to describe the rigid constraints of driving units imposed by the AGV frame,on which the kinematics model of the AGV comprising multiple driving units is formulated.Then,an improved leader follower strategy is proposed.Path tracking of the chief leader unit is performed to guide the entire AGV system,and the coordinated control law is developed for the deputy leader unit and the follower unit.The results of simu lation experiment show the errors of slave motion of the follower unit are eliminated significantly,which validates the effectiveness of this coordinated control technique.%针对多个差速驱动单元组成的自动导引车(AGV),提出一种基于虚拟结构法和leader-follo-wer策略的多驱动单元协同控制技术.首先利用虚拟结构法描述AGV车体对驱动单元的刚性约束,建立了多驱动单元AGV的运动学模型;其次提出一种改进的leader-follower策略,通过主leader单元的路径跟踪引导AGV的整体运动,建立了次leader单元和follower单元的协同运动控制率.仿真实验结果表明,follower单元的跟随运动误差显著减小,验证了该协同控制技术的有效性.