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针对具有非完整约束AGV点镇定控制问题,提出一种新的基于图像视觉伺服控制算法。采用眼在手上视觉伺服模型,利用图像视觉伺服原理,基于图像误差设计了AGV视觉控制器,求得AGV广义控制速度;然后根据非完整约束特点的AGV运动学和动力学模型,利用计算力矩法设计了AGV动力学控制器,由广义控制速度计算出AGV控制力矩;从而实现了基于图像误差AGV力矩控制。并利用Matlab和Simulink进行了仿真,仿真结果表明了控制方法的有效性和可行性。最后利用Reinovo型AGV进行了实验,表明该方法具有很好的实用性。
Aiming at the problem of AGV point stabilization with nonholonomic constraints, a new image-based visual servoing control algorithm is proposed. Using the visual servo model of the eye in hand, the AGV visual controller is designed based on image error and the AGV generalized control speed is obtained. Then based on the AGV kinematics and dynamics model with nonholonomic constraints, The AGV dynamic controller is designed and the AGV control torque is calculated from the generalized control speed. Thus, the AGV torque control based on the image error is realized. The simulation was done by Matlab and Simulink. The simulation results show the effectiveness and feasibility of the control method. At last, experiments with Reinovo AGV show that the method has good practicability.