AGV path tracking method

A path tracking and path technology, applied in vehicle position/route/height control, non-electric variable control, instruments, etc., can solve problems such as reducing the efficiency of AGV travel, and achieve the effect of improving travel efficiency

Active Publication Date: 2017-11-24
GUANGDONG JATEN ROBOT & AUTOMATION
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Problems solved by technology

However, due to the random deviation of the position of the AGV calculated by the sensor of the navigation mechanism, and the deviation and delay between the actual control angle and speed of the drive mechanism and the preset value at

Method used

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Example Embodiment

[0054] The following describes the embodiments of the present invention with reference to the drawings:

[0055] See Figure 1 to Figure 5 , AGV includes a car body, a navigation mechanism and a driving mechanism. The driving mechanism includes a steering wheel arranged at the front of the car body to control the direction of the AGV, and two rear wheels arranged at the rear of the car body to drive the direction of the AGV; point N Is the center point of the steering wheel.

[0056] An AGV path tracking method of this embodiment includes the following steps:

[0057] (a) Preset the route map in the navigation mechanism of the AGV, and set the route point and the rectangular coordinate system of the AGV on the route map; generate the route curve equation S according to the set route point;

[0058] (b) The driving mechanism in the AGV drives the AGV to travel according to the preset path curve equation S, and uses the center point between the two rear wheels of the AGV body as the ref...

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Abstract

The invention discloses an AGV path tracking method. The method comprises steps: (a) a path map, path points and a right angle coordinate system are preset in an AGV navigation mechanism, and according to the set path points, a path curve equation S is generated; (b) the AGV moves according to the path curve equation S; (c) the navigation mechanism tracks the path curve equation S with a reference point O; (d) coordinates of the current reference point O and the current heading angle alpha of the vehicle body are calculated; (e) coordinates of the current reference point O to the nearest point P on the path curve equation S are calculated; (f) the theoretical heading angle beta of the AGV is calculated; (g) a lateral deviation value e is calculated; (h) a deviation angle delta is calculated; (i) whether the AGV body is derailed is judged; and (j) a steering wheel angle A is calculated, a driving mechanism corrects a driving path according to the steering wheel angle A, and one path tracking period is completed. According to the AGV path tracking method of the invention, the AGV can move along the preset path curve equation S with few deviations.

Description

Technical field [0001] The invention relates to the field of AGV control methods, in particular to an AGV path tracking method. Background technique [0002] With the rapid development of the domestic manufacturing industry, people's demand for automated material conveying systems is also increasing, and AGVs are widely used in automated material conveying systems because of their high degree of automation, which can greatly reduce production costs. [0003] Common AGVs include a car body, a navigation mechanism, and a driving mechanism set at the bottom of the car body. The driving mechanism drives the car body along a preset motion path according to the position information obtained by the navigation mechanism, and automatically at the starting point under load Multiple round trips between and destination. Especially when the AGV is turning, it is the key to the AGV control technology that the navigation mechanism accurately calculates the steering angle of the body of the AGV a...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D2201/0216
Inventor 胡政钟杰辉
Owner GUANGDONG JATEN ROBOT & AUTOMATION
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