AGV path tracking method

A path tracking and path technology, applied in the directions of road network navigators, measuring devices, instruments, etc., can solve problems such as reducing the efficiency of AGV, and achieve the effect of high travel efficiency

Active Publication Date: 2016-07-06
GUANGDONG JATEN ROBOT & AUTOMATION
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  • Claims
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Problems solved by technology

Therefore, the existing correction method will inevitably reduce the efficiency of the AGV moving towards the target point

Method used

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Embodiment Construction

[0027] The specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0028] see Figure 1 to Figure 2 , an AGV path tracking method, comprising the following steps:

[0029] (a) Establish a path map in the navigation device of the AGV, the path map includes several path points a, recorded as a 1 , a 2 ...a n , and the basic path curve obtained by fitting the path point a;

[0030] (b) The driving module in the AGV drives the AGV to advance along the basic path curve;

[0031] (c) The correction module in the AGV extracts the current path point a i and the next waypoint a i+1 , according to the current path point a i and the next waypoint a i+1 Fit the real-time path curve S,i∈[1,n];

[0032] (d) The positioning module of the AGV determines the current position of the AGV, determines the navigation point m1 with the current position, and establishes a tracking circle W with a radius of R with the navigation p...

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Abstract

The invention belongs to the field of AGV control methods, in particular to an AGV path tracking method. The method comprises the following steps that 1, a path map is established in an AGV navigation device, wherein the path map comprises multiple path points and a basic path curve obtained by fitting the patch points; 2, a driving module of an AGV drives the AGV to advance along the basic path curve; 3, a correction module in the AGV extracts the current path point and the next path point and fits a real-time path curve according to the current path point and the next path point; 4, a positioning module of the AGV determines the position of the AGV, determines a navigation position according to the current position and establishes a tracking circle with the radius being R by taking the navigation point as the circle center, in the tracking circle, an arc within the range of being + / - D in the advancing direction of the AGV is an effective arc, and the intersection point of the effective arc and the real-time path curve is considered as an advancing target point; 5, the correction module of the AGV guides the AGV to run toward the advancing target point. According to the path tracking method, the AGV traveling path directly faces the advancing target point, and the running path is short.

Description

technical field [0001] The invention belongs to the field of AGV control methods, in particular to an AGV path tracking method. Background technique [0002] The existing AGV path tracking method generally sets the trajectory curve according to the trajectory required by the AGV, and then the navigation device of the AGV guides the AGV to move along the trajectory curve. As the AGV continues to move, the error of the AGV will continue to accumulate, and the AGV will gradually deviate from the predetermined trajectory. Therefore, technicians need to use an error correction method for this type of AGV navigation method to ensure that the AGV can accurately follow the preset trajectory. [0003] However, the existing correction method is to accurately bring the AGV back to the preset trajectory curve, so that the AGV can accurately reach the target position. Although this method can make the AGV run more accurately, each correction of the AGV's running direction is toward the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/343
Inventor 胡政
Owner GUANGDONG JATEN ROBOT & AUTOMATION
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