【摘要】 针对大部件自动化搬运等应用需求，以及单AGV受限于尺寸、结构、承载方式等因素无法满足应用需求的问题，提出一种基于双AGV的协同搬运自动控制系统。该控制系统主要由激光SLAM定位模块、无线通讯模块、导航控制器和车体组成，双AGV能够同时背负同一物料进行自主协同搬运任务。该系统采用领航-跟随编队策略实现从AGV跟随主AGV的协同运行；建立AGV的偏差运动模型；采用模糊PID控制策略实现双AGV协同路径跟随。在大型车间中测试验证系统的有效性和精确性，测试结果表明：该控制系统在协同搬运大型工件时，主、从AGV路径跟随导航偏差均小于20 mm，双AGV中心距离偏差小于20 mm，满足运行要求。更多还原

【Abstract】 An automatic control system for collaborative handling based on dual AGVs is proposed to meet the application requirements such as automated handling of large parts and to address the problem that a single AGV cannot meet the application requirements due to the limitations of size, structure and load-bearing mode. The control system mainly consists of a laser SLAM positioning module, a wireless communication module, a navigation controller and a vehicle body, and the dual AGVs can carry the same object at the same time for autonomous collaborative handling tasks. The system adopts a pilot-follow formation strategy to realize the collaborative operation of the slave AGV following the master AGV, establishes a deviation motion model of AGVs and adopts a fuzzy PID control strategy to realize the collaborative path following of the dual AGVs. The effectiveness and accuracy of the system have been verified through tests in a large workshop. The test results show that, with this control system for collaborative handling of large workpieces, the deviation of the pathfollowing navigation of the master and slave AGVs is less than 20 mm, and the deviation of the center distance of the dual AGVs is less than 20 mm, which meets the operation requirements.更多还原