Liu Jianhui, Wang Ke, Zhang Wei
Aiming at the lateral motion control of the automatic transport vehicle designed, a model predictive control algorithm based on space domain is proposed based on the kinematics model. Firstly, the deviation model of automatic transport vehicle based on spatial domain is established and used as the prediction model. Then an objective function is designed to optimize the lateral displacement deviation and the change of the steering curvature of the automatic transport vehicle, to ensure the minimum lateral displacement deviation between the automatic transport vehicle and the reference path during the working process. Finally, to solve the optimal curvature, the objective function is converted into a quadratic programming problem. The joint simulation experiment is carried out with double line shifting as the reference path. The results show that the designed lateral motion control strategy can accurately and stably track the reference path under different speed, load, andhas good robustness.
Automatic Transport Vehicle, Model Predictive Control Algorithm, Spatial Domain, Kinematics Model