A shortest annular path navigation method for an automated guided vehicle and the guided vehicle

Abstract

A shortest annular path navigation method for an automated guided vehicle and the automated guided vehicle are disclosed. The method includes generating an adjacent matrix graph including actual formation of a road segment in a workplace according to node coordinate information in the workplace; finding out a shortest one-way annular path required by a task in the adjacent matrix graph; arranginga millimeter-wave radar in the workplace; measuring, by a gyroscope, the velocity, direction and acceleration of the automated guided vehicle and feeding the velocity, direction and acceleration backto a terminal controller in real time; performing calculation, by the terminal controller, according to feedback information from the millimeter-wave radar; and controlling, by an industrial personalcomputer, a drive module to complete position correction. A one-way annular path planning manner is adopted and a Dijkstra algorithm is adopted to achieve shortest path searching between two points ina non-negative weight graph in a shortest path algorithm, and the path planning efficiency of the automated guided vehicle is increased, thus simplifying path planning. In addition, by utilizing real-time correction through the millimeter-wave radar and the gyroscope, that the automated guided vehicle is ready to reach a target position through the shortest path is ensured.

Description

technical field [0001] The invention relates to the field of automatic vehicle guidance, in particular to a method for navigating the shortest circular path of an automatic guided transport vehicle and a guided transport vehicle. Background technique [0002] With the development of science and technology, the automatic guidance technology of vehicles is widely used. Vehicles can run automatically according to the planned route without manual operation, which can greatly improve work efficiency and save labor costs. [0003] The current automatic guidance methods are mainly optical guidance, electromagnetic guidance and other methods. However, these methods have their limitations. With the development of technology, some new guidance technologies have emerged, such as vision guidance technology. This method can effectively reduce the difficulty of guidance and make the vehicle easy to control, but the control accuracy is relatively low. And after working for a long time, it...

AI Technical Summary

Problems solved by technology

However, these methods have their limitations. With the development of technology, some new guidance technologies have emerged, such as vision guidance technology. This method can effectively reduce the difficulty of guidance and make the vehicle easy to control, but the control accuracy is relatively low. And after working for a long time, it is easy to accumulate errors and affect normal operations

[0004] The path planning of automatic guided vehicles plays a key role in the operation process. Although the research on the path planning of automatic guided vehicles has been done for decades, due to the high complexity of the working environment of automatic guided vehicles, It is difficult to avoid obstacles and optimize the path, so there are still many places worthy of research and exploration

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