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Algorithm for positioning control of automatic guided vehicle (AGV) robot based on fuzzy proportion integration differentiation (PID)

A robot positioning and control algorithm technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control and other directions, can solve the problem of low positioning accuracy, achieve high positioning accuracy, improve The effect of controlling the running accuracy and improving the response speed

Inactive Publication Date: 2016-07-13
刘学良
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Problems solved by technology

[0003] The existing positioning control algorithm of the AGV robot cannot accurately control the direction of action of the robot, so it is conducive to the accurate control of the robot, and the existing positioning control algorithm has low positioning accuracy

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  • Algorithm for positioning control of automatic guided vehicle (AGV) robot based on fuzzy proportion integration differentiation (PID)
  • Algorithm for positioning control of automatic guided vehicle (AGV) robot based on fuzzy proportion integration differentiation (PID)
  • Algorithm for positioning control of automatic guided vehicle (AGV) robot based on fuzzy proportion integration differentiation (PID)

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Embodiment Construction

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0026] see Figure 1-4 , the present invention provides a technical solution: a positioning control algorithm for an AGV robot based on fuzzy PID, comprising the following steps:

[0027] S1: Operating environment preset, select the predetermined operating environment of the AGV robot, and set up several signal processing modules in this environment, mark the position of each signal processing module, and input the marking signal into the control unit of the A...

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Abstract

The invention discloses an algorithm for positioning control of an automatic guided vehicle (AGV) robot based on fuzzy proportion integration differentiation (PID). The algorithm comprises the following steps: a step S1 of operating environment presetting; a step S2 of establishment of an environmental map; a step S3 of AGV robot positioning; a step S4 of AGV robot line operation; and a step S5 of AGV robot operation line correction. The algorithm is more suitable for control over the AGV robot; through a mode of adding the fuzzy PID control, the response speed and control operation accuracy of the AGV robot can be improved, and the AGV robot positioning accuracy is higher.

Description

technical field [0001] The invention relates to the field of robot control algorithms, in particular to an AGV robot positioning control algorithm based on fuzzy PID. Background technique [0002] AGV is: Automated Guided Vehicle referred to as AGV. The most common applications at present are: AGV handling robot or AGV trolley. The method is magnetic strip guidance and laser guidance; currently the most advanced and most scalable is the ultra-high frequency RFID guidance developed by Miklimei Technology. Magnetic strip guidance is the most commonly used and cheapest way, but the site setting has certain limitations and has a certain impact on the decoration style of the site; the cost of laser guidance is the highest and the requirements for the site are relatively high, so it is generally not used; the cost of RFID guidance is moderate, Its advantages are high guidance accuracy, more convenient site setting, which can meet the most complex site layout, and has no impact on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 刘学良张志王善进刘华珠张足生魏亚东
Owner 刘学良
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