基于预瞄LMPC的港口AGV路径跟踪控制*

doi:10.16731/j.cnki.1671-3133.2024.11.011

现代制造工程 ›› 2024, Vol. 530 ›› Issue (11): 80-86.doi: 10.16731/j.cnki.1671-3133.2024.11.011

基于预瞄LMPC的港口AGV路径跟踪控制^*

王锋¹, 李小川¹, 白国星²

1 中海油能源物流有限公司,天津 300452;
2 北京科技大学机械工程学院,北京 100083

收稿日期:2024-01-08 出版日期:2024-11-18 发布日期:2024-11-29
作者简介:王锋,硕士,工程师,主要从事港口物流自动化技术研究与应用工作,包括港口自动驾驶运输技术研究与应用、港口装卸自动化技术研究与应用等。李小川,硕士,工程师,主要从事港口物流自动化技术研究与应用工作,包括港口自动驾驶运输技术研究与应用、港口物流智能化管理等。白国星,博士,讲师,主要从事无人驾驶车辆、移动机器人领域的研究工作,包括路径跟踪控制、模型预测控制等。E-mail:gxbai@ustb.edu.cn
基金资助:
^*国家重点研发计划资助项目(2018YFE0192900);中国博士后科学基金资助项目(2022M710354);中央高校基本科研业务费专项资金资助项目(FRF-TP-20-052A1);惠州市智慧港口研发专项项目

Path tracking control of port AGVs based on the preview LMPC

WANG Feng¹, LI Xiaochuan¹, BAI Guoxing²

1 CNOOC Energy Logistics Co.,Ltd.,Tianjin 300452,China;
2 School of Mechanical Engineering,University of Science and Technology Beijing,Beijing 100083,China

Received:2024-01-08 Online:2024-11-18 Published:2024-11-29

摘要/Abstract

摘要： 路径跟踪控制是港口自动导引车(Automated Guided Vehicle,AGV)的一项关键技术,现有路径跟踪控制方法存在难以在U型弯道等具有较大幅度曲率突变的参考路径上保持较高精确性以及实时性较差等问题。为此以无预瞄线性模型预测控制(Linear Model Predictive Control,LMPC)为基础,将传统展开点改为AGV前方的预瞄展开点,提出了基于预瞄LMPC的港口AGV路径跟踪控制方法,并通过联合仿真将其与非线性模型预测控制(Nonlinear Model Predictive Control,NMPC)、无预瞄LMPC进行了对比。仿真结果显示,预瞄LMPC精确性较高,位移误差不超过0.060 2 m,精确性与NMPC相当,显著优于无预瞄LMPC,相同工况下该指标减小幅度可达93.25 %;预瞄LMPC的实时性较好,每个控制周期内解算时间均不超过6.020 3 ms,实时性与无预瞄LMPC相当,显著优于NMPC,相同工况下该指标减小幅度可达72.52 %。

关键词: 港口自动导引车, 无人驾驶, 路径跟踪, 预瞄控制, 线性模型预测控制

Abstract: Path tracking control is a key technology of port Automated Guided Vehicle (AGV),and the existing path tracking control methods have problems such as difficulty in maintaining high accuracy on reference paths with large curvature mutations such as U-turns,and poor real-time performance. To this end,a path tracking control method for port AGVs based on preview LMPC is proposed based on Linear Model Predictive Control (LMPC) without preview,where the linear expansion point is changed to the preview point in front of the AGV. The path tracking control method for port AGVs based on preview LMPC is compared with Nonlinear Model Predictive Control (NMPC) and LMPC without preview through the joint simulation.The simulation results show that the accuracy of the preview LMPC is high,the displacement error is no more than 0.060 2 m,which is comparable to that of the NMPC and significantly better than that of the LMPC without preview,and the reduction of this index can reach 93.25 % under the same working condition. The real-time performance of the preview LMPC is also good,and the solution time in each control cycle is no more than 6.020 3 ms,which is comparable to the LMPC without preview and significantly better than the NMPC,and the reduction of this index can be up to 72.52 % under the same working condition.

Key words: port Automated Guided Vehicle (AGV), unmanned driving, path tracking, preview control, Linear Model Predictive Control (LMPC)

中图分类号:

TP242

王锋, 李小川, 白国星. 基于预瞄LMPC的港口AGV路径跟踪控制^*[J]. 现代制造工程, 2024, 530(11): 80-86.

WANG Feng, LI Xiaochuan, BAI Guoxing. Path tracking control of port AGVs based on the preview LMPC[J]. Modern Manufacturing Engineering, 2024, 530(11): 80-86.

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基于预瞄LMPC的港口AGV路径跟踪控制^*

Path tracking control of port AGVs based on the preview LMPC

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