基于模糊神经网络控制的AGV避障路径规划仿真

作者：赵德云，杨厚华*，王 哲 日期：2010-11-15/span> 浏览：3799 查看PDF文档

基于模糊神经网络控制的AGV避障路径规划仿真
赵德云，杨厚华*，王 哲

（贵州大学 机械工程学院，贵州 贵阳 550025）
摘要：自动导引车（AGV）作为一种现代化物流设备，在许多领域得到了越来越广泛的应用。AGV在行进过程中的主要任务是避障及路径规划。针对AGV的避障路径规划问题，定义了AGV的行驶环境，提出了AGV避障路径规划的模糊神经网络控制方法，设计了模糊神经网络控制器，并用Matlab进行了仿真。仿真结果表明该模糊神经网络控制器满足控制要求，该研究为进一步精确控制AGV奠定了基础。
关键词：自动导引车；行驶环境；避障路径规划；模糊神经网络
中图分类号：TH241；TH39
文献标识码：A文章编号：1001-4551(2010)09-0027-05

AGV obstacle avoidance path planning simulation based on fuzzy neural network control
ZHAO Deyun, YANG Houhua, WANG Zhe
(College of Mechanical Engineering, Guizhou University, Guiyang 550025, China)

Abstract: Automatic guided vehicles(AGV) as a modern logistics equipment, has been used more and more widely in many areas. In the process of AGV moving, the main task are obstacle avoidance and path planning. Aiming at AGV obstacle avoidance path planning, the environment of the AGVs traveling was defined, the AGV obstacle avoidance path planning method of fuzzy neural network control was proposed, the fuzzy neural network controller was designed, and the simulation analysis with Matlab was carried, the simulation result indicates that this fuzzy neural network controller satisfies the control request. The research lays the foundation for the further precise control of AGV.
Key words: automatic guided vehicles(AGV); environment of traveling; obstacle avoidance path planning; fuzzy neural network