An agv path tracking method

Abstract

An AGV path tracking method of the present invention: (a) preset a path map, path points and rectangular coordinate system in the AGV navigation mechanism; generate a path curve equation S according to the set path points; (b) AGV according to the path curve equation S travels; (c) the navigation mechanism tracks the path curve equation S with the reference point O; (d) calculates the coordinates of the current reference point O and the current heading angle α of the vehicle body; (e) calculates the path curve equation from the current reference point O The coordinates of the closest point P on S; (f) Calculate the theoretical heading angle β of the AGV; (g) Calculate the lateral deviation value e; (h) Calculate the deviation angle δ; (i) Determine whether the AGV body is derailed; ( j) Calculate the steering wheel angle A, and the driving mechanism corrects the driving route according to the steering wheel angle A to complete a path tracking cycle. The AGV path tracking method of the present invention enables the AGV to travel along the preset path curve equation S with less deviation.

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 delivery systems is also increasing, and AGV is widely used in automated material delivery systems because of its high degree of automation and can greatly reduce production costs. [0003] A common AGV includes a car body, a navigation mechanism, and a drive mechanism installed at the bottom of the car body. The drive mechanism drives the car body along a preset movement path according to the position information obtained by the navigation mechanism, and automatically moves at the starting point under load. multiple round trips to and from the destination. Especially when the AGV is turning, it is the key to the AGV control technology to accurately calculate the steering angle of the AGV's body according to the ta...

AI Technical Summary

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 a certain position of the preset motion path, the AGV along the When the preset motion path travels, there is a large deviation between the actual motion path and the preset motion path, which reduces the travel efficiency of the AGV

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