基于曲线拟合的AGV机器人特殊路段标定方法

Calibration Method for Special Section of AGV Robot Based on Curve Fitting

电磁感应引导式的AGV(Automated Guided Vehicle)机器人特殊路段识别与标定是一个较为复杂的问题,需要在充满噪声的函数中寻找特殊状态进行识别,并利用其原函数变换成其他函数以适应AGV正常运行的目标轨迹函数。本文提出一种基于曲线拟合的电磁感应引导式AGV特殊路段标定方法。该方法通过计算机对AGV采集的原始离散数据进行拟合,模拟出其运动方向上变化率趋势,仿真出最佳的运行目标轨迹函数曲线,实现特殊路段的平滑运行。测试结果表明,该方法能实现AGV的精准转向控制,在普通路径与特殊路径衔接时可以做到平滑过渡,提高了AGV高速运行时的稳定性、可控性、机动性与运输效率。

How to identify and calibrate the special section of AGV (Automated Guided Vehicle) robot guided by electromagnetic induction is a complicated problem. It is necessary to find special states in noisy functions for recognition, and the original function should be transformed into other functions to fit the target trajectory function of AGV in normal operation. A method of electromagnetic induction-guided AGV under special section calibration based on curve fitting is proposed in this paper. The original discrete data collected by AGV are fitted by computer to simulate the trend of movement direction changing rate and obtain the optimal trajectory function curve to achieve smooth operation of special sections. The test result shows that the method can realize the precise steering control of AGV and smooth transition between ordinary path and special path, which can improve the stability, controllability, mobility, and transportation efficiency of AGV at high speed.