基于对称四次方曲线的AGV平滑路径生成算法

摘要

自动引导车(Automated Guided Vehicle,AGV)路径生成是AGV系统实现的关键环节,其主要目的是为AGV行驶提供平滑的路径.借用缓和曲线的概念,利用四次方曲线作为缓和曲线设计行驶路径,论证了对称四次方曲线可以作为缓和曲线,解决了已知路径起终点的平滑路径绘制的问题,并以差速AGV为例,简要分析了其在该曲线上的最大速度和力学性能.该算法有助于提高AGV的柔性,并为AGV的路径生成提供了重要参考.%Smooth path generation for Automated Guided Vehicle (AGV),which provides a smooth path for AGV moving,is the basic process of AGVs.Based on the concept of easement curve,use symmetrical fourth-order curve to solve the problem of smooth path generation.Taking differential AGV for example,we also analyze the maximum speed and the mechanical properties of AGV on the curve.The results show this algorithm helps to improve the AGV's flexibility.