全方位自动导引车的导航与控制系统研究

摘要

In order to improve the navigation accuracy and real-time performance of the omnidirectional automated guided vehicle (AGV) , the navigation and control systems are deeply studied.Firstly, the kinematic analysis for the Mecanum wheel omnidirectional AGV is carried out, and the kinematic model is established.Then, the Kalman filter is used to fuse the positioning methods of two different principles, and the defects of both are remedied.On the premise of ensuring the positioning frequency, the positioning accuracy and robustness are improved.PID control is used to implement the omnidirectional AGV path tracking, and the automatic control of the system is realized.Finally, the correctness and reliability of the algorithm are verified in the experiment.After testing, the omnidirectional AGV can reach a precision of 10 mm, and navigation and control systems have good stability and real-time performance.%为了提高全方位自动导引车 (AGV) 的导航精度和实时性, 文中对其导航和控制系统进行了深入研究.首先, 对基于麦克纳姆轮的全方位AGV进行了运动学分析, 建立了运动学模型;随后, 使用卡尔曼滤波对两种不同原理的定位方式进行了融合, 弥补了二者各自的不足, 在保证定位频率的前提下, 提高了定位精度和鲁棒性;使用PID控制实现了全方位AGV的路径跟踪, 实现了系统的自动控制;最后, 在实验中验证了算法的有效性.经过测试, 全方位AGV行驶精度可以达到10 mm, 导航和控制系统具有良好的稳定性和实时性.