双差动单元四轮驱动AGV路径跟踪策略
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摘要
为解决车体中心在运行过程中会偏离导航轨迹的问题,对双差动单元四轮驱动AGV(automated guided vehicle)路径跟踪策略进行研究。针对地面状况及车体结构过约束等情况,构建AGV运动学模型,采用角度纠偏与距离纠偏分离的纠偏策略,对车体角度和距离偏差进行纠正,得出一种按照三级优先级交叉纠偏的路径跟踪算法,解决了车体不能按期望轨迹运行的问题。实际应用结果表明,该算法纠偏可操作性强、纠偏效果好。
For solving the problem that vehicle center deviate from guidance track,research on the dual differential driving automated guided vehicle(AGV) path tracking strategy.Aiming at the ground situation and vehicle structure constraint,establish AGV kinematics model,use strategy of angle deviation rectification and distance deviation rectification separation,correct angle deviation and distance deviation,and acquire path tracking method of three-level priority crossover deviation rectification,solve the problem that the vehicle could not run along the expecting path.The practical application results show that the algorithm has strong operability and good correction.
For solving the problem that vehicle center deviate from guidance track,research on the dual differential driving automated guided vehicle(AGV) path tracking strategy.Aiming at the ground situation and vehicle structure constraint,establish AGV kinematics model,use strategy of angle deviation rectification and distance deviation rectification separation,correct angle deviation and distance deviation,and acquire path tracking method of three-level priority crossover deviation rectification,solve the problem that the vehicle could not run along the expecting path.The practical application results show that the algorithm has strong operability and good correction.
引文
[1]马伟.四轮差动全方位移动机器人路径跟随技术研究[D].重庆:重庆大学,2012.
[2]BORENSTEIN J.Control and kinematic design of muti-degree-of-freedom mobile robots with compliant linkage[J].IEEE Transactions on Robotics and Automation.1995,11(1):21-35.
[3]武星,朱琳军,石陈陈,等.双差速驱动移动机器人路径跟踪混合控制律研究[J].农业机械学报,2015,46[3]:51-58.
[4]葛红豆,赫雷,曹雏清,等.基于模糊PID控制的AGV控制[J].兵工自动化,2017,36(12):76-79.
[5]朱琳军.双差速驱动AGV协同运动控制技术研究[D].南京:南京航空航天大学,2015.
[6]王殿君,关似玉,陈亚,等.双驱双向AGV机器人运动学分析及仿真[J].制造业自动化,2006,38(3):42-46,56-56.
[7]谢晓竹,何成.复杂环境背景下车辆目标识别研究综述[J].兵器装备工程学报,2017(6):90-94.
[2]BORENSTEIN J.Control and kinematic design of muti-degree-of-freedom mobile robots with compliant linkage[J].IEEE Transactions on Robotics and Automation.1995,11(1):21-35.
[3]武星,朱琳军,石陈陈,等.双差速驱动移动机器人路径跟踪混合控制律研究[J].农业机械学报,2015,46[3]:51-58.
[4]葛红豆,赫雷,曹雏清,等.基于模糊PID控制的AGV控制[J].兵工自动化,2017,36(12):76-79.
[5]朱琳军.双差速驱动AGV协同运动控制技术研究[D].南京:南京航空航天大学,2015.
[6]王殿君,关似玉,陈亚,等.双驱双向AGV机器人运动学分析及仿真[J].制造业自动化,2006,38(3):42-46,56-56.
[7]谢晓竹,何成.复杂环境背景下车辆目标识别研究综述[J].兵器装备工程学报,2017(6):90-94.