Multi-steering-wheel cooperative control method for omnidirectional mobile AGV

Abstract

The invention discloses a multi-steering-wheel cooperative control method for an omnidirectional mobile AGV. The multi-steering-wheel cooperative motion control comprises rotation speed control of a steering wheel driving motor and rotation angle position control of a steering motor. According to the target motion speed of an AGV body, the expected driving speed and deflection angle of each steering wheel are calculated through an inverse kinematics model, and then the driving speed is compensated by adopting a speed synchronization control method to obtain the actual control quantity of a steering wheel driving motor. According to the invention, the motion control problem of the multi-steering-wheel driving type omnidirectional mobile AGV is effectively solved, the AGV can accurately track a guide path, the internal force consumption between wheel sets can be reduced, the motion process is more coordinated, and the endurance time is prolonged.

Description

technical field [0001] The invention belongs to the technical field of AGV (Automatic Guided Vehicle) motion control, and more specifically relates to a control method capable of realizing omnidirectional motion of a multi-rudder wheel driven AGV. Background technique [0002] AGV (Automatic Guided Vehicle) is a wheeled mobile robot that can automatically drive along a prescribed path through a dispatch system or manual control, and it is widely used in the manufacturing and logistics industries. Many scenarios require the AGV to have omnidirectional mobility, that is, it can rotate around any point in the plane, or move in any direction without changing the posture of the car body. Existing omnidirectional mobile AGVs usually use mecanum wheel drive. The mecanum wheel has simple control and flexible movement, but its movement efficiency is low, and due to the limitation of structure and material, its single wheel bearing capacity is not large, and its price is relatively h...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for controlling the coordinated motion of omnidirectional mobile AGV wheel sets driven by multi-rudder wheels. The driving and steering control amount of each steering wheel is obtained through the inverse kinematics model and speed compensation, which effectively solves the problem of multi-rudder wheel drive. The problem of force mismatch between the wheel trains enables the AGV to move accurately and efficiently

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