AGV navigation travel deviation correction method based on bp network

A travel deviation, BP network technology, applied in the field of AGV navigation, can solve the problems of increasing positioning error, inaccurate AGV positioning, affecting AGV work efficiency, etc., to achieve efficient navigation and eliminate the effect of driving path deviation

Active Publication Date: 2020-12-04
GUANGDONG JATEN ROBOT & AUTOMATION
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Problems solved by technology

Among them, inertial guidance uses gyroscopes or encoders for navigation. The path layout is flexible and does not require wires. However, due to the integration of navigation information, the measurement error of the sensor also has an integral effect on the positioning error, so that the positioning error will increase over time. With the passage of time, it continues to increase, resulting in inaccurate positioning of the AGV, which affects the working efficiency of the AGV

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  • AGV navigation travel deviation correction method based on bp network
  • AGV navigation travel deviation correction method based on bp network
  • AGV navigation travel deviation correction method based on bp network

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Embodiment Construction

[0036] A preferred embodiment of the present invention will be described below with reference to the accompanying drawings.

[0037] see Figure 1 to Figure 3 , AGV navigation travel deviation correction method based on BP network, which includes AGV driving deviation correction data acquisition process, AGV driving deviation model training process and AGV driving deviation correction process.

[0038] AGV driving deviation correction data acquisition process, including: preparation phase and acquisition phase.

[0039] The preparation stage of AGV driving deviation correction data acquisition process includes the following steps:

[0040] Step A, installing RFID readers and magnetic sensors on the AGV body;

[0041] Step B, in the working area of ​​the AGV, establish a rectangular coordinate system according to the specific situation, and use the rectangular coordinate system as the global coordinate system for AGV navigation;

[0042] Step C, plan the AGV travel path on t...

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Abstract

The invention provides a BP network-based AGV navigation travel deviation correction method, which uses RFID electronic tags and magnetic nails to obtain the required data for AGV inertial navigation travel deviation correction, and directly obtains the AGV inertia through the AGV travel deviation model completed through training Navigate the deviation during the driving process, so as to facilitate the control of the motor to control the driving of the AGV to eliminate the deviation of the driving path, and realize the efficient navigation of the AGV indoors through the encoder on the wheel, so that the inertial navigation can also have excellent performance at low cost. navigation effect.

Description

technical field [0001] The invention relates to the technical field of AGV navigation, and mainly relates to a BP network-based AGV navigation travel deviation correction method. Background technique [0002] With the development of indoor mobile robot research, its application range is becoming wider and wider, and it plays an important role in people's daily life and industrial production. Among all the research technologies of autonomous mobile robots, navigation technology is the premise and key technology to realize its autonomous operation, autonomous decision-making and autonomous planning. It is the core of this research field, and it is the research focus, focus and difficulty. [0003] AGV is a kind of unmanned handling equipment that can travel along a set path and has a carrying capacity. It provides great convenience in transportation, weightlifting, and testing in the manufacturing environment. It is a robot in the true sense. As a special type of mobile robo...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/08G06K17/00G06N3/04G06N3/08
CPCG06K17/0029G06N3/08G01C21/08G01C21/206G06N3/045Y02T10/40
Inventor 陈达权康博程
Owner GUANGDONG JATEN ROBOT & AUTOMATION
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