【控制】车辆自主导航控制系统附matlab代码

⛄ 内容介绍
自主导引/导航车(Automated Guided Vehicles, AGV)又称无人搬运车或者轮式移动机器人,是指一种能够按照预先设定的路径行驶的无人驾驶智能化运输车辆,而且AGV的轨迹跟踪控制系统是一个典型的具有非完整约束的非线性系统.在过去的几十年中,因其潜在的广泛应用前景,有关AGV的研究受到了越来越多的学者和专家的关注和重视.

⛄ 部分代码
function guictrl(task)



% ========================================

%   PROGRAM AIM :

%         COMPLEMENTRY TO Navigate.m FILE

% ========================================

%   HOW TO RUN :

%         WILL RUN THROUGH Navigate.m

% ========================================

%   SATVIR SINGH SIDHU, ARUN KHOSLA, JASBIR SINGH SAINI

%   MAY 2009

%   COPYRIGHT RESERVED

% ========================================

sys = get(gcf, 'UserData');

FigNum = watchon;

XLoc = findobj(gcf, 'Tag', 'XLoc');

YLoc = findobj(gcf, 'Tag', 'YLoc');

VAng = findobj(gcf, 'Tag', 'VAng');

TAng = findobj(gcf, 'Tag', 'TAng');

Velo = findobj(gcf, 'Tag', 'Velo');

Fou = findobj(gcf, 'Tag', 'Fou');

data.L = 30;

data.W = 13;

data.X = str2num(get(XLoc, 'String'));         % X-Coordinate of Reference Point

data.Y = str2num(get(YLoc, 'String'));         % Y-Coordinate of Reference Point

data.V = str2num(get(VAng, 'String'));        % Vehicle Angle

data.T = str2num(get(TAng, 'String'));         % Front Tyre Angle

data.v = str2num(get(Velo, 'String'));          % Vehicle Velocity

data.F = str2num(get(Fou, 'String'));           % Footprint of Uncertainty



VRef = findobj(gcf, 'Tag', 'VRef');

FTyr = findobj(gcf, 'Tag', 'FTyr');

RTyr = findobj(gcf, 'Tag', 'RTyr');

VBnd = findobj(gcf, 'Tag', 'VBnd');



% [VRef FTyr RTyr VBnd]

dsp = [get(VRef, 'Value') get(FTyr, 'Value') get(RTyr, 'Value') get(VBnd, 'Value')];

watchoff;



if task(1) == '#'

    % CLOSE BUTTON PRESSED

    if strcmp(task, '#Clos')

        delete(gcf)



        % HELP BUTTON PRESSED

    elseif strcmp(task, '#SPlots')

        FigNum = watchon;

        NVS = findobj(gcf, 'Tag', 'NSpace');    % Handle for Navigation Space

        hgsave(NVS, 'NVplots');

        watchoff;



        % CLEAR BUTTON PRESSED

    elseif strcmp(task, '#Clr')

        cla



        % X LOCATION CHANGED

    elseif strcmp(task, '#Xloc')

        FigNum = watchon;

        XLoc = findobj(gcf, 'Tag', 'XLoc');

        Xloc = str2num(get(XLoc, 'String'));

        if Xloc<0

            Xloc = 0;

            set(XLoc, 'String', num2str(Xloc));

        elseif Xloc>200

            Xloc = 200;

            set(XLoc, 'String', num2str(Xloc));

        end

        data.X = Xloc

        vehicle(data, dsp);

        watchoff;



        % Y LOCATION CHANGED

    elseif strcmp(task, '#Yloc')

        FigNum = watchon;

        YLoc = findobj(gcf, 'Tag', 'YLoc');

        Yloc = str2num(get(YLoc, 'String'));

        if Yloc<0

            Yloc = 0;

            set(YLoc, 'String', num2str(Xloc));

        elseif Yloc>200

            Yloc = 200;

            set(YLoc, 'String', num2str(Xloc));

        end

        data.Y = Yloc

        vehicle(data, dsp);

        watchoff;



        % VEHICLE ANGLE CHANGED

    elseif strcmp(task, '#Vang')

        FigNum = watchon;

        VAng = findobj(gcf, 'Tag', 'VAng');

        V = str2num(get(VAng, 'String'));

        if V<-90

            V = -90;

            set(VAng, 'String', num2str(V));

        elseif V>270

            V = 270;

            set(VAng, 'String', num2str(V));

        end

        data.V = V

        vehicle(data, dsp);

        watchoff;



        % TYRE ANGLE CHANGED

    elseif strcmp(task, '#Tang')

        FigNum = watchon;

        TAng = findobj(gcf, 'Tag', 'TAng');

        T = str2num(get(TAng, 'String'));

        if T<-35

            T = -35;

            set(TAng, 'String', num2str(T));

        elseif T>35

            T = 35;

            set(TAng, 'String', num2str(T));

        end

        data.T = T

        vehicle(data, dsp);

        watchoff;



        % VEHICLE VELOCITY CHANGED

    elseif strcmp(task, '#Vel')

        FigNum = watchon;

        Velo = findobj(gcf, 'Tag', 'Velo');

        v = str2num(get(Velo, 'String'));

        data.v = v;

        watchoff;



        % TRACE VEHICLE REFERENCE = Y/N

    elseif strcmp(task, '#VRef')

        FigNum = watchon;

        VRef = findobj(gcf, 'Tag', 'VRef');

        VR = get(VRef, 'Value');

        watchoff;



        % TRACE FRONT TYRES = Y/N

    elseif strcmp(task, '#FTyr')

        FigNum = watchon;

        FTyr = findobj(gcf, 'Tag', 'FTyr');

        FT = get(FTyr, 'Value');

        watchoff;



        % TRACE REAR TYRES = Y/N

    elseif strcmp(task, '#RTyr')

        FigNum = watchon;

        RTyr = findobj(gcf, 'Tag', 'RTyr');

        RT = get(RTyr, 'Value');

        watchoff;



        % TRACE VEHICLE BOUNDARY = Y/N

    elseif strcmp(task, '#VBnd')

        FigNum = watchon;

        VBnd = findobj(gcf, 'Tag', 'VBnd');

        VB = get(VBnd, 'Value');

        watchoff;



        % FOU MATRIX

    elseif strcmp(task, '#Fou')

        FigNum = watchon;

        Fou = findobj(gcf, 'Tag', 'Fou');

        data.F = str2num(get(Fou, 'String'));

        if length(data.F) ~= (length(sys.Input)+length(sys.Output))

            Str = '0';

            for i = 2:(length(sys.Input)+length(sys.Output))

                Str = strcat(Str, ' 0');

            end

            set(Fou, 'String', strcat('[', Str, ']'));

        end

        watchoff;

    end

    % START NAVIGATION

else strcmp(task, 'Sim')

    F = data.F;

    sys2 = ST1toIT2(sys, F);

%     ========================

    sys2.Name='SecondFLS';           % CHANGING THE FILENAME 

    assignin('base', 'it2fls', sys2);   % SENDING IT2 FLS STRUCTURE INTO WORKSPACE

    wrgfs(sys2);                                  % WRITING GFS FILE

%     ========================

    for i=1:1000

        TF = 5; % For LPA

%         TF = 1; % For CCA

        data.T = TF*runIT2([data.X data.V], sys2);

        ndata = LPAlgo(data);

%         ndata = CCAlgo(data);

        if ndata.Y>=200

            break;

        end

        data = ndata;

         pause(0.0001);        

    end

end

⛄ 运行结果






⛄ 参考文献
[1]张美娜, 吕晓兰, 陶建平,等. 农用车辆自主导航控制系统设计与试验[J]. 农业机械学报, 2016, 47(7):6.

[2]陈威, 张喜斌, 李卫华,等. 自主导航车辆的轨迹纠偏方法及轨迹纠偏装置,车辆控制系统:, CN112550289A[P]. 2021.

 

时间:2022-12-27 22:54:05