图书自动小车避障功能的设计

Study on Obstacle Avoidance to Mobile Robot in Greenhouse

为了实现自动小车在书库内的避障功能,应用虚拟力场法建立了避障模型,描述了目标点的虚拟引力和障碍物的虚拟斥力之间的关系及其功能设计,实现了从自动小车的运动坐标值到控制量的转变,完成了自动小车在多变的周边环境中实现自动避障的功能。

In order to realize the obstacle avoidance function of automatic wheelbarrow in stack room, the model was established by the method of virtual force field, and the relation of virtual force field and virtual repulsion force were described, and it＇ s function were designed, and the transforming from the movement coordinate figure of it to controlled quantity was achieved, the automatic obstacle avoidance function of it in the multivariate surrounding environment is completed