基于Hermite曲线的智能叉车过渡轨迹规划和跟踪

Hermite-based planning and tracking of transition trajectory of intelligent forklift

研究了一种差速轮式智能叉车。该智能叉车的运动轨迹由直线段和圆弧段组成,直线段和圆弧段的直接过渡会造成智能叉车轮速的突变,导致智能叉车运动的不稳定。为了克服这个缺点,基于Hermite曲线提出直线段和圆弧段的过渡轨迹的概念。介绍了智能叉车轨迹跟踪的算法,并结合运动控制卡PMAC的运动特点,在样机XAUTAGV-100上进行了过渡轨迹的试验验证,试验结果表明,采用过渡轨迹后驱动轮速度平滑过渡,没有突变,对进一步提高该类智能叉车的运动稳定性有一定的意义。

A differential wheeled intelligent forklift is studied in the paper.The motion trajectory of such forklift includes line segments and arc segments,and direct transition from the line segments and arc segments n can result in wheel velocity jump of the intelligent forklift,causing movement instability of such forklift.To overcome this drawback,the concept of transition trajectory for the line segment and arc segment is put forward based on Hermite curve.The paper introduces the algorithm for tracking of the intelligent forklift,and the test verification of the transition trajectory performed on the prototype XAUTAGV-100,with consideration of the movement features of motion control card PMAC.The test shows that the drive wheel velocity is smoothly transited without velocity jump after application of the transition trajectory,providing certain significance for further improvement to motion stability of the similar kind of forklifts.