摘要
目前使用常规驱动轮的自动引导运输车（AGV）灵活性不够,在狭小的空间作业困难,应用场合受到限制。出于对该问题以及成本的考虑,使用基于麦克纳姆轮的全方位移动控制模型,对AGV的磁条导航方案及站点识别技术进行了研究设计,通过复用磁条导航中必要的磁传感器完成了站点识别方法设计。并将研究结果在实际的场景中进行了测试验证。测试结果表明,设计的磁条导航方案精度高、稳定性好,站点识别准确可靠,同时有效地降低了硬件复杂度及设计成本,具有一定的创新性及现实意义。
At present,the AGV is not flexible enough to use the conventional drive wheel,and it is difficult to work in a narrow space,and the application is limited.For the sake of this problem and cost,using the omni-directional movement control model based on Mcnameter Wheel,we studied and designed AGV′s magnetic stripe navigation scheme and site identification technology. And through the magnetic sensor multiplexing necessary magnetic navigation,we completed the design site identification method.And the results are tested and verified in the actual scene.The test results show that the designed magnetic strip navigation scheme has high accuracy and stability,and the site recognition is accurate and reliable,which effectively reduces the hardware complexity and the design cost,and has certain innovative and practical significance.
作者
蒋睿杰
穆平安
Jiang Ruijie;Mu Ping＇an(School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, Chin)
出处
《电子测量技术》
2018年第8期74-78,共5页
Electronic Measurement Technology
