激光导引AGV的转弯算法研究
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摘要
针对单轮驱动转向自动引导车的转弯精度不高、转弯速度慢、运行效率低等问题,对单轮驱动转向自动引导车的转弯过程进行了研究,在研究院的实验平台上进行大量的转弯实验。结合自动引导车的运动学模型,对自动引导车的弯道轨迹、弯道速度及其转弯误差进行了归纳,建立了自动引导车入弯速度和转弯误差之间的关系,提出了预先弯道补偿和直线导航相结合的方法。通过Matlab的仿真分析,验证了该方法的有效性,最后在原型机上进行了实验。实验结果显示,小车在满足转弯精度的前提下,转弯速度提高了近30%。该方法能很好地用于提高单轮驱动转向自动引车的转弯精度和速度。
Aiming at the steer driving AGV's low accuracy of turning low turning speed and poor operating efficiency problems,many experimental studies of the car turning were carried out on a test prototype and the turning process of a steer driving AGV car was investigated. After the analysis of AGV's curve trajectory speed and turning error,which were based on the car's kinematic model,the relationship between the turning speed and turning error was established. According to the analysis a method of curve compensation combining with straight line navigation was established. The method was simulated in Matlab and the effectivoness of the method was verifred. Finally the method was carried out on the test prototype. The result shows that the turning speed has increased nearly 30 percent,at the same time the accuracy of turning is high. Therefore,the method is effective and feasible.
Aiming at the steer driving AGV's low accuracy of turning low turning speed and poor operating efficiency problems,many experimental studies of the car turning were carried out on a test prototype and the turning process of a steer driving AGV car was investigated. After the analysis of AGV's curve trajectory speed and turning error,which were based on the car's kinematic model,the relationship between the turning speed and turning error was established. According to the analysis a method of curve compensation combining with straight line navigation was established. The method was simulated in Matlab and the effectivoness of the method was verifred. Finally the method was carried out on the test prototype. The result shows that the turning speed has increased nearly 30 percent,at the same time the accuracy of turning is high. Therefore,the method is effective and feasible.
引文
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[4]刘波,汪宇辰,梁伟健,等.基于MC9S12XS128MAL控制的光电导引式AGV[J].机电工程,2013,30(7):837-838.
[5]朱天宇,谭琳.激光导引四轮驱动型AGV小车模糊控制的研究[J].机电工程,2013,30(8):1026-1028.
[6]范堃.自动导引车车载系统研究与实现[D].杭州:浙江大学电气工程学院,2013.
[7]李占贤,冯永利.单舵轮AGV路径跟踪控制器设计[J].控制工程,2014,5(21):70-71.
[8]耿牛牛.单舵轮AGV路径跟踪方法的研究[J].制造业自动化,2011,33(4):81-82.
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