一类自主移动小车的停车控制方法

A New Parking Control Method for Automatic Guided Vehicle

摘要:

针对港口集装箱运输的自主移动小车(AGV)存在正常工作模式和停车模式的特点,提出了一种新的停车控制方法:从AGV的当前位置到待泊车位间规划出一条最佳行驶路径,然后用模糊逻辑控制(FLC)AGV按规划路径行驶;并用遗传算法对FLC隶属度函数中的参数进行优化.仿真结果表明该方法可行有效.

Abstract:

A new parking control method is proposed to guide the parking of auto-guided vehicle(AGV) which has two working patterns:normal pattern and parking pattern,and is used for tran-sporting containers in port.An optimal path from current place to ready-to-parking place is planned first;then FLC is used to guide AGV to follow the planned path;the control parameters within membership function are optimized by using genetic algorithm(GA) to reduce the tracking error between real running path and the planned path.Numerical results show that this method is feasible and effective.