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Path tracking method, system and device, and computer readable storage medium

A path tracking, computer program technology, applied in control/adjustment systems, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of low path tracking accuracy and achieve the effect of improving accuracy

Pending Publication Date: 2022-01-04
SUZHOU AGV ROBOT CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] When the current AGV is performing path planning, the path tracking accuracy is not high

Method used

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  • Path tracking method, system and device, and computer readable storage medium
  • Path tracking method, system and device, and computer readable storage medium
  • Path tracking method, system and device, and computer readable storage medium

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Embodiment Construction

[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. 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.

[0058] Such as figure 1 As shown, the embodiment of the present invention proposes a path tracking method, including:

[0059] S101. Obtain a global path plan;

[0060] S102. Obtain a velocity space in each control cycle;

[0061] S103. Sampling in velocity space to obtain motion parameters including velocity v and curvature k;

[0062] S104. In the next control cycle, take v as the linear velocity and move on an arc track with 1 / k as the radius of the curv...

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Abstract

The invention provides a path tracking method, system and device, and a computer readable storage medium. The method comprises the following steps of S1, acquiring a global path plan; S2, in each control period, acquiring a speed space; S3, sampling being carried out in the speed space, and motion parameters including the speed v and the curvature k being obtained; S4, in the next control period, motion being carried out in an arc track with v as the linear speed and 1 / k as the radius of a curvature circle, and the positive and negative characteristics of k indicating the direction of the angular speed; S5, averagely dividing the arc track into n sections, wherein n is the number of sampling points; S6, simulating a motion track for each group of motion parameters, and calculating corresponding track point coordinates; and S7, calculating track cost according to the track point coordinates, selecting a track with the lowest cost, converting motion parameters of the track into (v, omega), and issuing the (v, omega). According to the path tracking method, system and device and the computer readable storage medium, path tracking precision can be improved.

Description

technical field [0001] The present invention relates to the technical field of path tracking, in particular to a path tracking method, system, device and computer-readable storage medium. Background technique [0002] (Automated Guided Vehicle, referred to as AGV), usually also called AGV trolley refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guiding path, with safety protection and various transfer functions, A truck that does not require a driver in industrial applications uses a rechargeable battery as its power source. Generally, the computer can be used to control its travel route and behavior, or the electromagnetic track (electromagnetic path-following system) can be used to set up its travel route. The electromagnetic track is pasted on the floor, and the unmanned van relies on the information brought by the electromagnetic track. Movement and action. [0003] NURBS No...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0263
Inventor 刘胜明甄武斌徐一琳司秀芬
Owner SUZHOU AGV ROBOT CO LTD
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