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Double-steering-wheel AGV path tracking method

A path tracking and steering wheel technology, applied in vehicle position/route/altitude control, non-electric variable control, instruments, etc., can solve the problems of low control accuracy, poor stability, unsuitable for high-precision path tracking, etc., to improve trajectory tracking effect, to ensure the effect of real-time correction

Active Publication Date: 2021-03-09
BEIJING XINGHANG MECHANICAL ELECTRICAL EQUIP
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Problems solved by technology

[0003] Nonlinear control methods such as fuzzy control methods do not need to establish precise kinematic models, imitate human fuzzy reasoning and decision-making processes, and rely on field experience to design fuzzy control rules, but this method has low control accuracy and poor stability, and is not suitable for realizing AGV high precision path tracing

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Embodiment Construction

[0037] In order to better understand the technical solutions of the present invention, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0038] It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0039] Terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used in the embodiments of the present invention and the appended claims, the singular forms "a", "said" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0040] The invention provides a path tracki...

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Abstract

The invention provides a double-steering-wheel AGV path tracking method, relates to the technical field of automatic control, and aims to effectively improve the trajectory tracking effect of a double-steering-wheel AGV and ensure real-time deviation correction of an AGV body so as to control the AGV body to accurately travel along a target path. The method comprises the following steps of: S1, establishing a kinematic model of a double-steering-wheel AGV; S2, according to odometer information of the AGV body and the real-time vehicle body attitude data, calculating an driving track of the AGV; S3, calculating the attitude deviation of the AGV at the current moment according to the calculated driving track of the AGV; S4, according to the calculated attitude deviation of the AGV, obtaininga target control quantity of the vehicle body in the next period; and S5, calculating the adjustment amount of the double steering wheels through the target control amount, calculated in the step S4,of the next period in combination with the kinematics model of the double-steering-wheel AGV, thus achieving deviation rectification. The technical scheme provided by the invention is suitable for the driving process of the double-steering-wheel AGV.

Description

【Technical field】 [0001] The invention relates to the technical field of automatic control, in particular to a path tracking method of an AGV with dual steering wheels. 【Background technique】 [0002] The full name of AGV is Automated Guided Vehicle (Automated Guided Vehicle), which refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed path, with safety protection and various transfer functions. The motion control of AGV is the key technology to realize the high-precision and high-reliability operation of automatic guided vehicles. Among them, the research on the path tracking algorithm strategy of AGV is the difficulty of AGV motion control. At present, the commonly used algorithms of AGV path tracking algorithm include optimal control method, linear model control method, fuzzy control method and so on. [0003] Nonlinear control methods such as fuzzy control methods do not need to e...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0223G05D1/0221G05D1/0276
Inventor 张明卢扬扬张丹丹张志民
Owner BEIJING XINGHANG MECHANICAL ELECTRICAL EQUIP
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