双磁导引轮式AGV路径跟踪算法的研究

发布时间：2018-01-14 07:17

本文关键词：双磁导引轮式AGV路径跟踪算法的研究　出处：《机械设计与制造》2017年12期 　论文类型：期刊论文

【摘要】：针对单磁导引轮式AGV转向过程中存在的横向滑移和磨损问题,以及路径跟踪过程中纠偏方向的左右不确定性,设计了一种能实现纯滚动转向从而减小轮胎磨损的行走装置,并在轮式AGV平台上搭建了前后双磁导引传感器系统。首先采用电动推杆实时改变横拉杆长度,使机器人运动结构符合艾克曼模型从而实现纯滚动运动,然后以双PID算法为导引,根据反馈的当前位置和角度偏差作为PID控制器的输入,前轮期望转角和车体期望速度作为输出,采用MATLAB进行不同路径跟踪仿真实验。仿真结果表明,AGV在弯道上能在2s内以1.5m/s的速度快速准确跟踪到预定路径,纠偏角度保持在(-10~+10)°,验证了双磁导引系统设计的合理性和路径跟踪算法设计的有效性。
[Abstract]:Aiming at the problems of lateral slip and wear in the process of single magnetic guided wheel AGV steering, and the uncertainty of the correction direction in the course of path tracking. A walking device which can realize pure rolling steering and reduce tire wear is designed, and the front and rear magnetic guidance sensor system is built on the wheel AGV platform. Firstly, the length of the transverse pull rod is changed in real time by the electric push rod. The robot motion structure conforms to the Ekman model to realize the pure rolling motion. Then the dual PID algorithm is used as the guide and the current position and angle deviation of the feedback is used as the input of the PID controller. The expected rotation angle of front wheel and the expected velocity of the car body are taken as the output, and the different path tracking simulation experiments are carried out by using MATLAB. The simulation results show that. AGV can quickly and accurately track a predetermined path within 2 seconds at a speed of 1.5 m / s, with an angle of correction between 10 掳and 10 掳. The rationality of the design of the dual magnetic guidance system and the effectiveness of the path tracking algorithm are verified.
【作者单位】：江苏大学现代农业装备与技术教育部重点实验室;
【基金】：国家自然科学基金资助项目(51475212) 江苏高校优势学科建设工程资助项目(苏政办发[2014]37号)
【分类号】：TP23
【正文快照】： 1引言加了AGV结构的复杂性[2-3]。同时,现有的路径跟踪算法多考虑直轮式线行驶过程,改进的算法对控制参数的选择也比较复杂[4-5]。因此,AGV因其具有承载大、机构简单、驱动和控制相对方便、机动灵活等优点,被大量应用于工业、农业等领域。但由于其属于非提出一种基于双磁导引

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