Bezier curve control method and system for AGV

Abstract

The invention discloses a Bezier curve control method and system for an AGV. The method comprises the following steps: drawing all preset paths by using a Bezier curve; forming scheduling informationaccording to the task information and the AGV terminal position information and state information, and performing task path planning; using the AGV terminal for issuing the scheduling information andthe task path to execute the task; obtaining a task path and reading geometrical information of each task path section; and performing trajectory tracking on a single task path segment. The method isbased on Bezier curve tracking and fixed-point parking. On the basis of a traditional scheme, optimization is carried out from three aspects of speed, precision and driving posture smoothness; compared with an AGV trajectory tracking method adopting straight lines and arcs, the invention has the advantages that the problem of path irregularity during path planning is solved, an improved pure tracking strategy is adopted, and the method is suitable for various different AGV driving mechanism types, so that the AGV can smoothly operate at a higher speed on the basis of ensuring the precision, and the single-machine operation efficiency is greatly improved.

Description

technical field [0001] The invention relates to a Bezier curve control method and system of an AGV, belonging to the technical field of AGV trajectory tracking control. Background technique [0002] In the past few decades, AGV (Automated Guided Vehicle, automatic guided vehicle) trajectory tracking control technology has been a hot topic in the field of robotics. For traditional AGVs, the trajectory tracking route is generally a straight line or an arc. The disadvantages of this method are: straight lines and arcs, path planning, single graphics, and poor flexibility; the combined path of straight lines and arcs has discontinuous curvature and the path is not smooth. , causing the AGV to turn unevenly when tracking the route; resulting in the ineffectiveness of the traditional trajectory tracking method. Movement is restricted due to an uneven path. [0003] The existing pure tracking method is widely used in the path tracking control of unmanned vehicles. The tracking m...

AI Technical Summary

Problems solved by technology

For traditional AGVs, the trajectory tracking route is generally a straight line or an arc. The disadvantages of this method are: straight lines and arcs, path planning, single graphics, and poor flexibility; the combined path of straight lines and arcs has discontinuous curvature and the path is not smooth. , causing the steering of the AGV to be uneven when tracking the route; resulting in the ineffectiveness of the traditional trajectory tracking method

[0003] The existing pure tracking method is widely used in the path tracking control of unmanned vehicles. The tracking method is applied to the AGV trolley to control and track the Bezier curve, which cannot meet the requirements of track tracking accuracy, and at the corners between adjacent segments of the track, it is easy to cause vehicle vibration and error amplification

[0004] Since the trajectory tracking accuracy cannot be guaranteed, the AGV running speed is low, and the tracking effect is not ideal. The existing AGV trajectory tracking control technology greatly limits the handling efficiency of the AGV.

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