基于超声波传感器的AGV模糊避障设计
Fuzzy Obstacle Avoidance Design of AGV Based on Ultrasonic Sensor
白自强 1邢希达 1李敏 1商宝富 1周晓迪 1王兴宾1
作者信息
- 1. 山东北方光学电子有限公司,山东 泰安 271000
- 折叠
摘要
根据工业现场实际生产状况,设计了一款用于避障的AGV小车.四传感器融合的模糊控制系统用于AGV避障,通过远程API控制AGV在CoppeliaSim中进行避障仿真,实现了MATLAB(客户端)和CoppeliaSim(服务器)跨越两平台联合实时仿真,论证了该四传感器融合模糊控制可用于行进过程中躲避障碍物,为后期的控制系统优化提供了一定依据.
Abstract
According to the actual production conditions at the industrial site,an AGV car for obstacle avoidance is designed.The four sensor fusion fuzzy control system is used for AGV obstacle avoidance.Through remote API control,AGV obstacle avoidance simulation is carried out in CoppeliaSim,achieving real-time simulation of MATLAB(client)and CoppeliaSim(server)across two platforms.It is demonstrated that the four sensor fusion fuzzy control can be used for obstacle avoidance during travel,providing a certain basis for later control system optimization.
关键词
四传感器融合/模糊逻辑控制器/远程API/避障Key words
four sensor fusion/fuzzy logic controller/remote API/obstacle avoidance引用本文复制引用
出版年
2024
NETL
NSTL
万方数据