自动导引小车AGV自适应避障策略的研究与实现

发布时间：2018-01-14 12:01

  本文关键词：自动导引小车AGV自适应避障策略的研究与实现　出处：《华南理工大学》2016年硕士论文　论文类型：学位论文

  更多相关文章： AGV 自适应避障 模糊推理 红外传感器

【摘要】：在交通物流产业高速发展的今天,机器人技术的应用程度已经成为决定企业间相互竞争和未来发展的重要衡量因素。自动导引小车AGV作为智能机器人的一种已经成功运用到物流产业,其效率不言而喻。尤其在货物搬运、周转,AGV都可以完全胜任。为了保障AGV运输途中行驶安全,AGV需要具有避障功能。现有的避障策略是设定一个固定的距离阈值,当AGV与障碍物的距离小于这个阈值时就立即停车。显然,这种方法存在一定的缺陷,例如当障碍物为移动物体(AGV或叉车、行人)时,AGV会因为与障碍物距离的实时变化而出现时走时停的现象,明显降低AGV的运输效率。本文针对现有避障策略存在的缺陷,根据AGV实际行驶环境,提出了AGV自适应避障策略,在保证AGV行驶安全的前提下,减少不必要的启停动作。为实现避障策略的自适应性,本文首先通过分析AGV的制动过程,得到影响AGV最短制动距离的主要因素,为了保证AGV车体和牵引货物的安全,把牵引货物的质量和转弯半径作为影响停车距离的因素,通过模糊推理得到一个优化的制动距离;以这个制动距离为基础,建立一个两级报警系统,并设计了一个基于红外测距传感器的自适应报警器。最后,对自适应避障策略相关参数和报警距离之间的关系用matlab进行了仿真,并编写了一个简单的软件来验证AGV避障策略的正确性,然后在实验室现有AGV小车上进行自适应避障策略实车实验,实验结果证明这种自适应避障策略是可行的,报警策略是有效的,提升了AGV的运输效率。
[Abstract]:In the transportation logistics industry rapid development today. The application degree of robot technology has become an important measure factor to decide the competition among enterprises and the future development. As an intelligent robot AGV has been successfully applied to the logistics industry. Its efficiency is self-evident. Especially in cargo handling, the AGV can be completely competent. In order to ensure the safety of AGV in transit. The existing obstacle avoidance strategy is to set a fixed distance threshold and stop immediately when the distance between the AGV and the obstacle is less than this threshold. There are some defects in this method, for example, when the obstacle is moving object or forklift vehicle, the AGV will stop when the distance between AGV and the obstacle changes in real time. Aiming at the defects of the existing obstacle avoidance strategy, according to the actual driving environment of AGV, the AGV adaptive obstacle avoidance strategy is proposed to ensure the safety of AGV. In order to realize the self-adaptability of obstacle avoidance strategy, this paper first analyzes the braking process of AGV and obtains the main factors that affect the shortest braking distance of AGV. In order to ensure the safety of the AGV carbody and the traction cargo, the quality and turning radius of the traction cargo are taken as the factors affecting the stopping distance, and an optimized braking distance is obtained by fuzzy inference. Based on this braking distance, a two-stage alarm system is established, and an adaptive alarm based on infrared ranging sensor is designed. The relationship between the parameters and alarm distance of adaptive obstacle avoidance strategy is simulated by matlab, and a simple software is developed to verify the correctness of AGV obstacle avoidance strategy. The experiment results show that the adaptive obstacle avoidance strategy is feasible, the alarm strategy is effective and the transportation efficiency of AGV is improved.
【学位授予单位】：华南理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242
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本文编号：1423481