Research on formation control method of Multi-Automated Guided Vehicle System
Conference: ICMLCA 2021 - 2nd International Conference on Machine Learning and Computer Application
12/17/2021 - 12/19/2021 at Shenyang, China
Proceedings: ICMLCA 2021
Pages: 4Language: englishTyp: PDF
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Authors:
Zhang, Shengnan; Liu, Fulin; Xu, Yifan (Software College, Shenyang University of Technology, Shenyang, Liaoning, China)
Chen, Yuxuan (Equipment Engineering College, Shenyang Ligong University, Shenyang, Liaoning, China)
Abstract:
In this paper, the formation control of multiple Automated Guided Vehicles is studied based on leader-follower. The movement model and observation model of Follower robot are introduced. The scintillation noise model is established. To make the experimental results more close to the reality, Unscented Particle Filtering (UPF) is applied to filter the noise generated by Leader mutation in the model, and the Particle degradation phenomenon in the standard Particle Filtering (PF) algorithm is alleviated. Then, on the basis of observing the scintiller noise model, the UPF and PF algorithms are simulated and compared in target tracking. The results show that the UPF effect is superior, so that the followers can better track the Learder and the formation is more stable, which has certain value.