AGV position and angle correction simulation system and method based on ROS

Abstract

The invention discloses an AGV position and angle correction simulation system and method based on an ROS, and the system is based on the ROS and comprises an AGV model module, a scene model building module, an algorithm model module, a motion process data obtaining module, a motion control module and a parameter feedback module. The AGV model module creates an AGV three-dimensional motion model; the scene model establishing module is used for establishing an AGV operation scene model and determining each operation route during simulation; the motion process data acquisition module acquires position and angle information in a running process in real time; the algorithm model module calculates a reward value according to the position and the angle, and outputs an adjustment operation on the parameter PID; the motion control module sets parameters related to motion and corrects the position and the angle; the parameter feedback module feeds back the corrected PID to the algorithm model module; meanwhile, the position and angle are fed back to the motion control module to update PID, and position and angle correction is achieved. According to the invention, the automatic control of the PID parameters is realized through the position and angle information of the AGV, and the working efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of motion control, in particular to a simulation system and method for ROS-based AGV position and angle correction. Background technique [0002] AGV is a handling vehicle equipped with an automatic guidance device, which can be equipped with programming and parking selection devices, safety protection devices and various material transfer functions along the specified path form on the body. Its distinctive feature is unmanned driving. The AGV is equipped with an automatic guidance system, which can ensure that the system can automatically travel along a predetermined route without manual piloting, and automatically transport goods or materials from the starting point to the destination; AGV has good flexibility, high degree of automation and high level of intelligence. Its driving path can be flexibly changed according to changes in storage space requirements, production process flow, etc., and the cost of ...

AI Technical Summary

Problems solved by technology

Manually setting and adjusting the PID of the AGV consumes a lot of manpower, time cost and resources. The operation of the AGV takes time, and multiple adjustments and tests also take time. It also requires the production environment to provide a test environment; in addition, manual Observing the position and angle deviation during AGV operation is not accurate enough, and the small deviation cannot be recognized by the naked eye, and the accuracy is relatively poor

Images