A linear path guidance method for a single steering wheel rear drive mobile platform

Abstract

The present invention is applicable to the technical field of automatic control, and provides a linear path guiding method for a single steering wheel rear-drive mobile platform. The method includes the following steps: S1. Real-time detection of the current pose deviation of the forklift, and the pose deviation includes: The lateral distance d that deviates from the expected trajectory, the angle γ that the forklift body currently deviates from the expected trajectory; S2. Keep the linear velocity of the steering wheel unchanged, input the current pose deviation into the calculation model of the steering wheel deflection angle, and output the steering wheel at the next moment declination. The calculation model of the steering wheel deflection angle is constructed through the relevant parameters of the forklift, and the steering wheel deflection angle is adjusted to drive in the direction of the desired track through the calculation model of the steering wheel deflection angle, which reduces the dependence on empirical parameters and improves the guidance accuracy of the mobile platform. The adjustment distance is shortened, the overshoot is reduced, and the calculation model based on the determined steering wheel deflection angle facilitates the debugging of the empirical parameter h.

Description

technical field [0001] The invention belongs to the technical field of automatic control and provides a linear path guiding method for a single steering wheel rear-drive mobile platform. Background technique [0002] Smart forklifts and AGV (Automated Guided Vehicle) are important transportation tools for industrial 4.0 smart factories. They are mainly used to realize the storage and transfer of raw materials, semi-finished products and finished parts, and provide an important guarantee for the flexibility and intelligence of the production system. It also provides technical support for the system to maintain efficient and stable operation. In recent years, trackless navigation is gradually replacing traditional tracked navigation (such as magnetic guide rail) with its advantages of high path flexibility, good controllability, and simple site layout. Its implementation methods include laser radar navigation, infrared top mark sensor navigation Wait. [0003] When the main ...

AI Technical Summary

Problems solved by technology

[0003] When the main steering wheel is driven in the front (that is, pulling the car body to walk), its motion control is relatively simple, and the correction of the pose is relatively rapid; but when the main steering wheel is driven in the rear (that is, pushing the car body to walk), its motion control is relatively simple. Complicated, when the pose deviates, the correction response speed is slow and prone to overshoot and oscillation

In some cases (such as when the forklift is forklifting, the gear must be in the front), the car body can only be driven by the rear of the main steering wheel, so the pose deviation correction model of the single steering wheel rear-drive forklift is studied. Most of them integrate the PID idea into the conventional fuzzy control. Although it can improve the walking accuracy and stability of the mobile platform, the control effect depends largely on the formulation of fuzzy control rules and membership functions. It largely depends on experience, it is troublesome to determine the relevant parameter values, and there is a lack of corresponding theoretical basis

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