新型自动引导车导航与控制系统

A New Navigation and Control System for an Automatic Guided Vehicle

提出了一种可适应复杂环境、实时性强、鲁棒性好的自动引导车导航和控制系统 ,此系统集成了自动引导车的多种功能并采用在弧线上找点的方法进行导航。采用此系统的自动引导车不仅能快速处理环境信息 ,而且能有效避开动态和静态障碍物 ,安全、可靠地驶向指定的目标。通过多种环境模式的仿真实验 。

This paper presents a new navigation and control system for an automatic guided vehicle (AGV), which has better reliability, robustness and real time response, and is suitable for complicated dynamic environment. The navigation and control system of the AGV integrated many functions and it adopted a new navigation method of searching points from an arc. The AGV with this system not only can quickly deal with environment information but also can efficiently avoid dynamic and static obstacles, and reaches the target safely and reliably. The effectiveness and correctness of the proposed approach was demonstrated by many simulation experiment results.