Path tracking control of port AGVs based on the preview LMPC

doi:10.16731/j.cnki.1671-3133.2024.11.011

Abstract

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)

CLC Number:

TP242

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.

References

[1] 温惠英,元昱青,林译峰.考虑道路负载均衡的码头多AGV无冲突路径规划[J].华南理工大学学报(自然科学版),2023,51(10):1-10.
[2] 赫磊,李纪鑫,孙瑜,等.基于SLAM技术的路径规划及避障研究[J].自动化与仪器仪表,2023(10):108-112.
[3] 蒋柳鹏,戴南亭.基于(1+1)进化策略的港口AGV路径规划改进进化算法[J].中国港湾建设,2023,43(10):99-104.
[4] 李腾,丁佩佩,张茹兰.基于动态避障优先级与预测的多AGV无冲突路径规划[J].系统工程,2024,42(3):50-62.
[5] 何均锋,李鹏,申艳红,等.动态环境下AGV避障轨迹规划问题研究[J].重庆理工大学学报(自然科学),2022,36(3):135-143.
[6] 周祥明,陈员义,徐华银.联合D~*Lite算法与视觉的AGV路径规划与定位[J].兵器装备工程学报,2020,41(3):126-130.
[7] 高延辉,陈培,张煜,等.天津港北港池C段自动化集装箱码头总体布置设计[J].水运工程,2022,6:78-83.
[8] STEIN M.Integrating unmanned vehicles in port security operations:an introductory analysis and first applicable frameworks[J].Oceans Yearbook,2018,32:556-583.
[9] 白国星,孟宇,刘立,等.无人驾驶车辆路径跟踪控制研究现状[J].工程科学学报,2021,43(4):475-485.
[10] 杨子兵,周军,孙永佳,等.基于干扰观测器和改进模糊PID的农用车辆路径跟踪控制策略[J].现代制造工程,2022(1):52-60.
[11] 宋洁,张小俊,张云龙.智能汽车换道避障路径规划与跟踪控制[J].现代制造工程,2022,505(10):43-50,20.
[12] 张俊娜,白国星.考虑系统约束的预瞄Stanley车辆路径跟踪控制[J].现代制造工程,2023(9):61-68.
[13] DING C,DING S,WEI X,et al.Output feedback sliding mode control for path-tracking of autonomous agricultural vehicles[J].Nonlinear Dynamics,2022,110(3):2429-2445.
[14] 丁晨,魏新华,梅珂琪.农用拖拉机的自适应二阶滑模路径跟踪控制[J].控制理论与应用,2023,40(7):1287-1295.
[15] WANG L,CHEN Z L,ZHU W.An improved pure pursuit path tracking control method based on heading error rate[J].Industrial Robot:The International Journal of Robotics Research and Application,2022,49(5):973-980.
[16] 潘世举,李建市,李华,等.基于反馈纯跟踪的智能车路径跟随方法[J].汽车工程,2023,45(7):1134-1144.
[17] ABDELMONIEM A,OSAMA A,ABDELAZIZ M,et al.A path-tracking algorithm using predictive Stanley lateral controller[J].International Journal of Advanced Robotic Systems,2020,17(6):1729881420974852.
[18] 靳欣宇,张军,刘元盛,等.基于Stanley算法的自适应最优预瞄模型研究[J].计算机工程,2018,44(7):42-46.
[19] 王鑫,凌铭,饶启鹏,等.基于改进Stanley算法的无人车路径跟踪融合算法研究[J].汽车技术,2022(7):25-31.
[20] 白国星,周蕾,孟宇,等.基于时变局部模型的无人驾驶车辆路径跟踪[J].工程科学学报,2023,45(5):787-796.
[21] BAI G,MENG Y,LIU L,et al.Path tracking control of unmanned ground vehicles considering the signal time delay[J].Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,2024,238(8):2338-2349.
[22] 白国星,刘丽,孟宇,等.基于非线性模型预测控制的移动机器人实时路径跟踪[J].农业机械学报,2020,51(9):47-52.
[23] GUO N,ZHANG X,ZOU Y,et al.A computationally efficient path-following control strategy of autonomous electric vehicles with yaw motion stabilization[J].IEEE Transactions on Transportation Electrification,2020,6(2):728-739.
[24] 王宏伟,刘晨宇,李磊,等.基于高效NMPC算法的无人车轨迹跟踪控制研究[J].汽车工程,2022,44(10):1494-1502.
[25] SHEN C,BUCKHAM B,SHI Y.Modified C/GMRES algorithm for fast nonlinear model predictive tracking control of AUVs[J].IEEE Transactions on Control Systems Technology,2016,25(5):1896-1904.
[26] YANG L,YUE M,MA T.Path following predictive control for autonomous vehicles subject to uncertain tire-ground adhesion and varied road curvature[J].International Journal of Control,Automation and Systems,2019,17(1):193-202.
[27] ZHANG C,CHU D,LIU S,et al.Trajectory planning and tracking for autonomous vehicle based on state lattice and model predictive control[J].IEEE Intelligent Transportation Systems Magazine,2019,11(2):29-40.
[28] SONG J,ZHANG W,WU X,et al.Laser-based SLAM automatic parallel parking path planning and tracking for passenger vehicle[J].IET Intelligent Transport Systems,2019,13(10):1557-1568.
[29] 梁艺潇,李以农,郑玲.基于转向与主动横摆力矩协调的四轮驱动智能电动汽车路径跟踪控制[J].机械工程学报,2021,57(6):142-155.
[30] PARK G,CHOI S B.A model predictive control for path tracking of electronic-four-wheel drive vehicles[J].IEEE Transactions on Vehicular Technology,2021,70(11):11352-11364.
[31] JEONG Y,YIM S.Model predictive control-based integrated path tracking and velocity control for autonomous vehicle with four-wheel independent steering and driving[J].Electronics,2021,10(22):2812.
[32] 迟瑞娟,熊泽鑫,姜龙腾,等.基于模型预测的插秧机路径跟踪控制算法[J].农业机械学报,2022,53(11):22-30,99.
[33] 关龙新,顾祖飞,张超,等.考虑系统复杂扰动的智能车模型预测路径跟踪控制[J].汽车工程,2022,44(12):1844-1855,1876.
[34] HE J,HU L,WANG P,et al.Path tracking control method and performance test based on agricultural machinery pose correction[J].Computers and Electronics in Agriculture,2022,200:107185.
[35] 查云飞,吕小龙,陈慧勤,等.基于路面附着系数估计的车辆轨迹跟踪控制[J].汽车工程,2023,45(6):1010-1021,1039.
[36] KIM J,JEONG Y.Design of robust path tracking controller using model predictive control based on steady state input[J].Journal of Mechanical Science and Technology,2023,37(8):3877-3886.
[37] 白国星,罗维东,刘立,等.矿用铰接式车辆路径跟踪控制研究现状与进展[J].工程科学学报,2021,43(2):193-204.
[38] BAI G,LIU L,MENG Y,et al.Path tracking of mining vehicles based on nonlinear model predictive control[J].Applied Sciences,2019,9(7):1372.