节点文献
基于麦克纳姆轮的重载AGV定位与控制研究
Research on Positioning and Control of Heavy Load AGV with Mecanum Wheel
【Author】 FANG Yufa;LU Jiangang;CHEN Jinshui;State Key Laboratory of Industrial Control Technology Zhejiang University;
【机构】 浙江大学工业控制技术国家重点实验室;
【摘要】 本文基于麦克纳姆轮移动平台,研究了AGV的定位和运动控制问题。通过研究激光定位的原理,结合实际情况,基于二维激光扫描仪设计了静态和动态定位算法,同时提出了数据滤波优化算法,提高定位可靠性。运动控制方面,提出了角度和位置独立同步的解耦控制策略,并依次设计了控制算法。实际运行结果表明AGV能精确跟踪规划路径,到位精度较高,满足预期要求。
【Abstract】 In this paper, the positioning and motion control of the AGV is researched based on the Mecanum wheel mobile platform. By studying the principle of laser positioning, the static and dynamic positioning algorithms are designed based on 2 D laser scanner combining the actual situation. At the same time, the data filtering optimization algorithm is proposed to improve the positioning reliability. In the aspect of motion control, a decoupling control strategy of independent synchronization of angle and position is proposed, and the control algorithm is designed respectively. The operation results show that the AGV can track the planned path accurately, and the deviation of the arrived position is small, which meets the expected requirements.
【Key words】 AGV; Mecanum wheel; Laser positioning; Decoupling control;
- 【会议录名称】 2018中国自动化大会(CAC2018)论文集
- 【会议名称】2018中国自动化大会(CAC2018)
- 【会议时间】2018-11-30
- 【会议地点】中国陕西西安
- 【分类号】TP23
- 【主办单位】中国自动化学会