惯性导航自动引导车磁钉校正路径迭代学习方法

Path Iterative Learning of Inertial Guided AGV with Magnets Correction

针对编码器和陀螺仪组成的AGV导航系统的积累误差,在路径上每隔一段距离设置一对磁钉,由磁栅尺检测进行绝对位姿校正。车间环境障碍使得磁钉的绝对位置难以精确测量,给AGV的实际应用调试带来不便。先采用示教方法由AGV测量并记录磁钉的位置,并在以后的重复运动中采用迭代学习方法不断更新局部路径段的目标值,使AGV更能精确地通过磁钉,从而保证AGV跟踪路径的精度。这种方法安装磁钉快捷,AGV系统规划调试方便,并能克服AGV误差积累。在前轮操舵型AGV牵引车上的实验证明了该方法的有效性。

Pairs of magnets were installed in the path at certain interval and were detected by a magnetic ruler to correct accumulation error of position and orientation of inertial guided AGV. It was difficult to get the absolute position of magnets because of obstacles in job shop and this often caused trouble in debugging AGV. A teach-in method was used to record the position of magnets, and iterative learning control was introduced to update the aim point of AGV. After several times＇ learning, AGV can run through magnets accurately. This method is easy to use in AGV path tracking. Accumulation of error can be eliminated when correction is done. The results of experiments in a tricycle AGV tugger were given to demonstrate the efficiency.