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Intelligent Automatic Guided Vehicle Navigation and Control

Author: ShiWenWu
Tutor: ChenWuWei；FanDiBin；WangQiRui
School: Hefei University of Technology
Course: Vehicle Engineering
Keywords: Automatic Guided Vehicle Navigation Control Simulation
CLC: TN967.1
Type: Master's thesis
Year: 2002
Downloads: 336
Quote: 3
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Abstract


In recent years, research on automatic guided vehicles more widely . However, research is more mature path in the automatic guided vehicle tracking ; in the navigation area, although there is a lot of literature suggests various methods , but there are still many restrictions on the application conditions , such as: how in a complex dynamic environment for Preventing Collisions how to improve the flexibility and automated guided vehicle safety, how to use information technology to improve the integration of automated guided vehicle tracking accuracy . For these reasons, this former rear wheel drive four -wheel steering Automatic Guided Vehicle as research object , the establishment of an automatic guided vehicle kinematics and dynamics model is proposed based on the intelligent navigation safety evaluation method based on fuzzy neural network intelligent control method , and the navigation and control methods were applied kinematics and dynamics model was simulated . In tracking , we propose a path will be tracked into several small segments , apply to small line segments instead of curve method, and then segmented tracking, and gives proof of the stability of this method , the simulation results show that they have a very good tracking. Finally, data fusion method is also applied to the automatic guided vehicles estimate the state , compared to the automatic guided vehicle state estimation using data fusion or right path tracking results. Simulation results show that the application of fusion is automatically guided vehicle tracking error limit in a smaller range, and do not use the automatic guided vehicle fusion compared to the track better. In order to verify the correctness of the simulation results , the paper also studied the content of the experimental results is consistent with the simulation results , which further demonstrates the proposed navigation, control, data fusion method is correct .

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CLC: > Industrial Technology > Radio electronics, telecommunications technology > Radio navigation > Navigation systems of the various institutional > Satellite navigation system
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