基于wMPS和模糊控制的AGV路径规划控制
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摘要
针对大空间自动导引车(AGV)的高精度路径规划控制应用,提出一种基于工作空间测量定位系统(wMPS)和模糊控制算法相结合的应用模式。事先规划好AGV路径,采用wMPS对AGV实时位姿进行精确测量,通过模糊控制算法输出实时调整AGV的前进速度和旋转角速度。算法仿真与实验结果表明,AGV的定位精度优于2.5 mm,能够保证AGV的动态导航和定位精度。
An application mode for high-precision path planning control application of automated guided vehicle(AGV) with a large space is proposed based on the combining of the workshop measurement positioning system(wMPS) and the fuzzy control algorithm. AGV path is planned in advance, and the real-time position and pose of AGV is accurately measured by wMPS, and the real-time forward and rotational speed parameters of AGV are output by the fuzzy control algorithm. Simulation and experimental results show that the positioning accuracy of AGV is better than 2.5 mm, which can ensure dynamic navigation and positioning accuracy of AGV.
An application mode for high-precision path planning control application of automated guided vehicle(AGV) with a large space is proposed based on the combining of the workshop measurement positioning system(wMPS) and the fuzzy control algorithm. AGV path is planned in advance, and the real-time position and pose of AGV is accurately measured by wMPS, and the real-time forward and rotational speed parameters of AGV are output by the fuzzy control algorithm. Simulation and experimental results show that the positioning accuracy of AGV is better than 2.5 mm, which can ensure dynamic navigation and positioning accuracy of AGV.
引文
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[2] Liu H H, Ding H, Xiong Z H, et al. Intelligent robotics and applications[M]. Heidelberg: Springer, 2010.
[3] Zhang C B X, Huang Z Q. Evolution summarization of Automated Guided Vehicles (AGV)[J]. Manufacturing Information Engineering of China, 2010, 39(1): 53-59. 张辰贝西, 黄志球. 自动导航车(AGV)发展综述[J]. 中国制造业信息化, 2010, 39(1): 53-59.
[4] Wu Q P, Jin Y P, Ren P, et al. Present situation and developing trend of AGV key technology[J]. Manufacturing Automation, 2013, 35(10): 106-109. 武启平, 金亚萍, 任平, 等. 自动导引车(AGV)关键技术现状及其发展趋势[J]. 制造业自动化, 2013, 35(10): 106-109.
[5] Jiang Q, Zhang Y Z, Zhang S Q, et al. Path planning method of the AGV navigated by IGPS in aircraft digital assembly[J]. Aeronautical Manufacturing Technology, 2016(22): 72-77, 83. 蒋倩, 张云志,张少擎, 等. 飞机数字化装配中IGPS导航的AGV路径规划方法[J]. 航空制造技术, 2016(22): 72-77, 83.
[6] Wang J C, Chen W D, Cao Q X. Omni-vision and odometer based self-localization for mobile robot[J]. Robot, 2005, 27(1): 41-45. 王景川, 陈卫东, 曹其新. 基于全景视觉与里程计的移动机器人自定位方法研究[J]. 机器人, 2005, 27(1): 41-45.
[7] Yi H. Research on AGV based on vision-based navigation[J]. Foreign Electronic Measurement Technology, 2010, 29(2): 44-46, 67. 易弘. AGV视觉导航研究[J]. 国外电子测量技术, 2010, 29(2): 44-46, 67.
[8] Du B R, Feng Z M, Yao Y B, et al. Robot drilling system for automatic drilling of aircraft[J]. Aeronautical Manufacturing Technology, 2010(2): 47-50. 杜宝瑞, 冯子明, 姚艳彬, 等. 用于飞机部件自动制孔的机器人制孔系统[J]. 航空制造技术, 2010(2): 47-50.
[9] Huang Z, Yang L H, Zhao Z Y, et al. Research on optoelectronic scanning dynamic coordinate measurement algorithm based on extended Kalman filter[J]. Laser & Optoelectronics Progress, 2016, 53(5): 051201. 黄喆, 杨凌辉, 赵子越, 等. 基于扩展卡尔曼滤波的光电扫描动态坐标测量算法研究[J]. 激光与光电子学进展, 2016, 53(5): 051201.
[10] Yang L H, Yang X Y, Lao D B, et al. Large-scale coordinates measurement method based on intersection of optical planes[J]. Infrared and Laser Engineering, 2010, 39(6): 1105-1109. 杨凌辉, 杨学友, 劳达宝, 等. 采用光平面交汇的大尺寸坐标测量方法[J]. 红外与激光工程, 2010, 39(6): 1105-1109.
[11] Shi S D, Yang L H, Lin J R, et al. Omni directional angle constraint based dynamic six-degree-of-freedom measurement for spacecraft rendezvous and docking simulation[J]. Measurement Science and Technology, 2018, 29(4): 045005.
[12] Yang Y H, Fang Q G. AGV trajectory tracking study based on fuzzy control[J]. Hoisting and Conveying Machinery, 2011(2): 16-18. 杨远航, 方庆琯. 基于模糊控制的AGV轨迹跟踪研究[J]. 起重运输机械, 2011(2): 16-18.
[13] Wu Y, Liu Z X, Chen Z Q, et al. Formation control of leader-following type multi-robot based on fuzzy control method[J]. CAAI Transactions on Intelligent Systems, 2015, 10(4): 533-540. 吴垠, 刘忠信, 陈增强, 等. 一种基于模糊方法的领导-跟随型多机器人编队控制[J]. 智能系统学报, 2015, 10(4): 533-540.