摘要
该文针对集装箱码头堆场自动引导载运车(AGV)的定位跟踪,建立AGV运动模型,通过车载陀螺仪及其车轮运动编码器获取AGV运动方向和运动姿态信息。为了减少AGV的定位误差,在集装箱码头堆场网格化布置RFID标签,建立平面坐标系,通过AGV的RFID阅读器获取位置信息,采用卡尔曼滤波方法进行多传感器数据融合,从而实现定位误差补偿。实验结果表明,改进后的AGV定位误差得到了有效抑制,采用RFID与多传感器信息的数据融合定位方法提高了AGV定位精度。
Research on the location and tracking of automation guided vehicle（AGV） in container terminal. Establish AGV motion model,get AGV motion direction and motion pose information through the vehicle gyroscope and its wheel motion encoder. In order to reduce the positioning error of AGV,grid layout RFID tags in the container terminal yard,and establish plane coordinate system,get the location information by installing the RFID reader in AGV,using Kalman filtering method for multi-sensor data fusion,in order to achieve the positioning error compensation. Experimental results show the improved AGV positioning error has been effectively suppressed. It is verified that the method of data fusion based on RFID and multi-sensor information improved the positioning accuracy of AGV.
出处
《自动化与仪表》
2016年第7期1-5,共5页
Automation & Instrumentation
基金
国家发改委智能制造装备发展项目(20132519)
关键词
射频识别
自动引导载运车
卡尔曼滤波
定位精度
radio frequency identification（RFID）
automation guided vehicle（AGV）
Kalman filter
positioning accuracy
