【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。更多还原

【Abstract】 For the lateral sliding and abrasion problems of single magnetic guided fruit-picking wheeled robot when steering and the uncertainty about the direction of deviation when path tracking,firstly a pure rolling walking device is designed based on using electronic rod to reduce tire wear,which makes the robot motion structure meets Ekman modle by changing tie rod length real-timely;Then before and after the double sensor of the magnetic guidance system is set up on wheeled robot platform. With double PID algorithms as guiding algorithm,the feedback of current position and angular deviation as input of PID controller,the expected front wheel angle and body speed as output,different tracking curves are simulated in MATLAB.Simulation results show that the robot can track to planned route fastly and accurately in 2 s with the speed of 1.5 m/s,keeps deviation angle between(-10~~+10)°,verify the validity of algorithm and double magnetic guide system.更多还原