基于IR-UWB的AGV定位与路径规划技术研究

发布时间：2018-01-07 07:24

本文关键词：基于IR-UWB的AGV定位与路径规划技术研究　出处：《中国农业机械化科学研究院》2017年硕士论文　论文类型：学位论文

【摘要】：随着生产制造以及仓储物流行业的自动化、信息化、智能化发展需求,自动导引车(AGV)的作用越来越重要,被广泛的应用于各种工作场合,已成为研究热点。针对高精度AGV成本高与低精度AGV工程量大、环境适应性差的问题,研究了基于IR-UWB无线传感器网络测距定位的AGV定位与路径规划技术,搭建了 AGV系统平台,并进行了系统试验。主要研究内容如下:1.系统对比了室内定位和导引技术。对国内外AGV小车的导引技术进行了调研,总结分析了目前常用的导引技术的优缺点,提出了采用无线传感器网络IR-UWB技术作为AGV室内定位和导引方式的研究方案。2.研究了无线传感器网络的测距定位技术。分析了 RSSI、TOF测距和AOA、TDOA、TOA定位技术的特点,针对测距和定位过程中的误差来源提出了减小误差的方案;研究基于SDS-TWR的测距方法,利用信号在基站和移动站之间的传播时间来测定两者之间的距离,再利用TOA定位算法来实现移动站的定位。3.设计了模糊PID导引控制器。建立了 AGV小车的数学模型;对其行走控制进行了建模分析;设计了自动导引控制器;最后采用MATLAB/Sinulink进行了仿真模拟。4.研究了基于A*算法的路径规划技术。首先利用栅格法进行仓库内环境的建模,模拟仓库内的货架、障碍物以及货道等信息,构建仓库内环境地图;然后利用A*算法作为路径规划算法,采用欧氏距离作为估价函数,以行走最短距离、减少小车转弯次数以及躲避障碍物为目标,对AGV行走过程进行了路径规划;最后进行了 A*路径规划的仿真模拟。5.搭建了 AGV系统平台,并进行了系统试验研究。集成IR-UWB定位模块、超声波传感器、姿态传感器及微控制器模块,设计了 AGV小车的执行单元,控制单元以及检测单元,以此搭建了定位导引平台,实现了 AGV在仓库环境下的测距和定位等功能。最后在搭建控制平台的上进行了系统试验,试验结果表明在农资仓库的环境下系统静态测距精度优于50 mm,静态定位精度优于50 mm,动态定位精度优于85 mm;能够获得较高的定位精度,满足实际需求。
[Abstract]:With the automation, information and intelligent development of production and logistics industry, the role of AGV is becoming more and more important, which is widely used in all kinds of workplaces. To solve the problem of high cost and low precision AGV with high cost and low precision, it has become a research hotspot. The technology of AGV location and path planning based on IR-UWB wireless sensor network location is studied, and the AGV system platform is built. The main research contents are as follows: 1. The indoor positioning and guidance technology are compared systematically. The domestic and foreign AGV guidance technology is investigated. The advantages and disadvantages of the commonly used guidance techniques are summarized and analyzed. This paper puts forward the research scheme of using wireless sensor network (IR-UWB) technology as the indoor location and guidance mode of AGV. Secondly, the location technology of wireless sensor network is studied, and the RSSI is analyzed. Based on the characteristics of TOF ranging and OAA TOA location technology, a scheme to reduce the errors in the process of ranging and positioning is proposed. This paper studies the ranging method based on SDS-TWR and uses the propagation time of the signal between the base station and the mobile station to measure the distance between the two. Then the location of mobile station is realized by using TOA algorithm. Thirdly, the fuzzy PID guidance controller is designed, and the mathematical model of AGV vehicle is established. Modeling and analysis of its walking control are carried out. The automatic guidance controller is designed. Finally, MATLAB/Sinulink is used to simulate. 4. The path planning technology based on A* algorithm is studied. Firstly, the grid method is used to model the environment in the warehouse. Simulate the information of shelves, obstacles and cargo lanes in the warehouse, and construct the map of the environment in the warehouse; Then the A* algorithm is used as the path planning algorithm and the Euclidean distance is used as the evaluation function to reduce the turning times and avoid obstacles. The path planning of AGV walking process is carried out. Finally, the simulation of A * path planning. 5. Built the AGV system platform, and carried out the system experimental research. Integrated IR-UWB positioning module, ultrasonic sensor. Attitude sensor and microcontroller module, designed the AGV vehicle execution unit, control unit and detection unit, so as to build a positioning guidance platform. The functions of AGV in the warehouse environment such as ranging and positioning are realized. Finally, the system test is carried out on the control platform. The experimental results show that the static ranging accuracy of the system is better than 50 mm, the static positioning accuracy is better than 50 mm, and the dynamic positioning accuracy is better than 85 mm in the environment of agricultural material warehouse. Can obtain higher positioning accuracy, meet the actual needs.
【学位授予单位】：中国农业机械化科学研究院
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP23;TP212.9;TN929.5

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