Static yaw rotating method based on laser-guided dual-wheel differential AGV

Abstract

The invention discloses a static yaw rotating method based on a laser-guided dual-wheel differential AGV. The method comprises that a laser scanner continuously obtains the real-time pose of the AGV, an intermediate reading and writing program transfers the real-time pose to a PLC execution program, and a host computer transmits the coordinate information of a target point to an onboard control system through wireless network communication. When the AGV is required to move to a next target point after accomplishing a task at a certain point, the AGV needs to reach an expected course to continuously advance by using the static yaw rotating method in combination with the AGV real-time pose and the target point coordinate information. The method innovatively formats a rotation direction problem, covers all rotation situations, and excludes unstable effects caused by special circumstances. Corresponding deceleration points are disposed to ensure the precision of the actual orientation of the AGV to reach the expected course. The method is applicable to general cases or cases where space is less limited, and is practical, concise, and feasible.

Description

technical field [0001] The invention belongs to the technical field of automatic navigation of mobile robots, and in particular relates to an in-situ yaw rotation method based on a laser-guided two-wheel differential AGV. Background technique [0002] AGV (Automated Guided Vehicle) is an "automated guided vehicle", also known as a mobile robot. It is a transport trolley that drives to the designated place on the route and realizes functions such as automatic transfer and handling. The laser guidance method of the AGV trolley began in the early 1990s. It does not require any treatment on the ground. A laser reflector with precise positioning is installed in the walking area of ​​the AGV trolley. The AGV emits laser light through a laser scanner and collects reflections from different angles The reflected laser beam uses its built-in positioning algorithm to determine the current position and direction of the car, and realizes the guidance of the AGV through the continuous po...

AI Technical Summary

Problems solved by technology

[0004] This type of path planning method is generally based on the overall situation, and its focus is on the design of the algorithm and its robustness test. It does not consider the outline of the object and its motion characteristics, and cannot guarantee the true feasibility of the path.

The space of most factories is limited. If the car is abstracted into a particle, the information of the outline and the environment cannot be reflected, so the above method is not suitable

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