基于Kalman滤波和PD控制的磁钉定位AGV导航
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摘要
为实现自动导引车(automatic guided vehicle,AGV)的精确导航,本文提出一种基于Kalman滤波和比例-微分(proportion-differential,PD)控制的磁钉定位AGV导航方法。将磁钉布设于AGV行进的区域内,根据磁性传感器得到AGV当前的位姿信息,与预定路径进行比较,得到当前的航向偏差,作为PD控制器的输入,将AGV的位姿调整量作为输出。同时,利用卡尔曼滤波算法对带有噪声干扰的状态进行估计,从而进一步提高AGV的定位精度,并采用Matlab软件进行仿真分析。仿真结果表明,当比例增益KP=5.35,微分系数KD=0.85时,能够在较快的时间内校正小车的航向偏差,说明所提出的Kalman滤波和PD控制对磁钉定位AGV导航有效可行。该研究具有广阔的应用前景。
In order to realize the precise navigation of automatic guided vehicle(AGV),this paper proposes a magnetic nail positioning AGV navigation method based on Kalman filtering and proportional-differential(PD)control.The magnetic nail is placed in the area where the AGV travels,and the current pose information of the AGV is obtained according to the magnetic sensor,and compared with the predetermined path to obtain the current heading deviation.As the input of the PD controller,the position adjustment amount of the AGV is taken as the output.At the same time,the Kalman filter algorithm is used to estimate the state with noise interference,which further improves the positioning accuracy of AGV.We use Matlab software for simulation analysis.The simulation results show that when the proportional gain Kp=5.35 and the differential gain KD=0.85,the heading deviation of the trolley can be corrected in a faster time,which indicates that the proposed Kalman filtering and PD control are effective and feasible for the magnetic nail positioning AGV navigation.This research has broad application prospects.
In order to realize the precise navigation of automatic guided vehicle(AGV),this paper proposes a magnetic nail positioning AGV navigation method based on Kalman filtering and proportional-differential(PD)control.The magnetic nail is placed in the area where the AGV travels,and the current pose information of the AGV is obtained according to the magnetic sensor,and compared with the predetermined path to obtain the current heading deviation.As the input of the PD controller,the position adjustment amount of the AGV is taken as the output.At the same time,the Kalman filter algorithm is used to estimate the state with noise interference,which further improves the positioning accuracy of AGV.We use Matlab software for simulation analysis.The simulation results show that when the proportional gain Kp=5.35 and the differential gain KD=0.85,the heading deviation of the trolley can be corrected in a faster time,which indicates that the proposed Kalman filtering and PD control are effective and feasible for the magnetic nail positioning AGV navigation.This research has broad application prospects.
引文
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[14]Dona P,Gerard K,Nigel J.Automatic human tracking theatrical spotlight[C]∥2015International Conference on Innovations in Information Embedded and Communicat ion Systems(ICIIECS).Coimbatore,India:IEEE,2015.
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[16]郑炳坤,赖乙宗,叶峰.磁导航AGV控制系统的设计与实现[J].自动化与仪表,2014(3):6-10.
[17]白彪才,马殷元.组合导航的AGV定位精度的改善[J].测控技术,2018,37(4):138-140.
[18]汪威,吴耀华,陈云霞.自然导航在AGV中的应用[J].物流技术,2016,35(12):33-36,45.
[19]田应仲,葛华,来晓江,等.磁导航托盘AGV自动控制系统的研制[J].机械制造,2016,54(总628):12-14.
[20]谭尚活,林义忠,杨中华,等.磁导航叉车式AGV软件系统的设计[J].装备制造技术,2017(8):21-23,59.
[2]Bostelman R,Hong T,Cheok G.Navigation performance evaluation for automat ic guided vehicles[C]∥International Conference on Technologies for Practical Robot Applications(TePRA).Massachusetts,USA:IEEE,2015:1-6.
[3]Kang J,Lee J,Eum H,et al.An application of parameter extraction for AGV navigation based on computer vision[C]∥201310th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI).Jeju,South Korea:IEEE,2013.
[4]李凤娥,牛王强.基于磁钉技术的集装箱码头AGV定位精度分析[J].上海海事大学报,2016,37(1):38-41,59.
[5]杨惠,高翔.基于模糊PID的自主寻迹小车控制[J].工业仪表与自动化装置,2017(4):92-96,100.
[6]任国华.移动机器人轨迹跟踪与运动控制[J].机械设计与制造,2014(3):100-102,106.
[7]陈姗姗,陈述人,韩红阳,等.基于GPS的除草机器人导航控制系统设计及仿真[J].农机化研究,2013(9):141-144.
[8]许根源,王直,王志强.基于自适应卡尔曼滤波的GPS/INS位置组合导航[J].电子设计工程,2017,25(21):100-103,108.
[9]Yin X H,Han Z.On a new sectionalized motion control strategy for automated guided vehicles:modeling and simulation validation[J].International Journal of Advanced Manufacturing Technology,2013,69(1/4):637-646.
[10]Jung E,Kim J.Improvement of position accuracy of magnetic guide sensor using kalman filter[C]∥Intelligent Autonomous Systems 12.Berlin:Springer Berlin Heidelberg,2013:817-824.
[11]Arens M,Ottlik A,Nagel H H.Using behavioral knowledge for situated prediction of movements[C]∥In Annual Conference on Artificial Intelligence.Berlin:Springer Berlin Heidelberg,2015:141-155.
[12]Ji R M,Wang F.A new method based on magnetic medium and inertial navigation system for the navigation control of AGV[J].Manufacturing Automation,2014,36(4):52-54.
[13]杨惠,高翔.基于模糊PID的自主寻迹小车控制[J].工业控制计算机,2017(4):92-96,100.
[14]Dona P,Gerard K,Nigel J.Automatic human tracking theatrical spotlight[C]∥2015International Conference on Innovations in Information Embedded and Communicat ion Systems(ICIIECS).Coimbatore,India:IEEE,2015.
[15]Duymaz E,Oˇguz A E,Temelta爧H.Performance analysis of filter based airborne simultaneous localizat ion and mapping methods[C]∥2015 7th International Conference on Recent Advances in Space Technologies(RAST).Istanbul,Turkey:IEEE,2015:157-162.
[16]郑炳坤,赖乙宗,叶峰.磁导航AGV控制系统的设计与实现[J].自动化与仪表,2014(3):6-10.
[17]白彪才,马殷元.组合导航的AGV定位精度的改善[J].测控技术,2018,37(4):138-140.
[18]汪威,吴耀华,陈云霞.自然导航在AGV中的应用[J].物流技术,2016,35(12):33-36,45.
[19]田应仲,葛华,来晓江,等.磁导航托盘AGV自动控制系统的研制[J].机械制造,2016,54(总628):12-14.
[20]谭尚活,林义忠,杨中华,等.磁导航叉车式AGV软件系统的设计[J].装备制造技术,2017(8):21-23,59.