八轮AGV转向及运动控制特性分析

Characteristics Analysis of Steering and Motion Control of Eight Wheels AGV

以八轮180°回转电差速AGV为主要研究对象,建立了车辆运动学模型、车辆在给定合成角度及合成轮速下各轮子转向角度及轮速对应关系;依据轨迹规划设计结果,构建了前后控制点路径跟踪控制算法,讨论了前后轴控制点目标角度及目标速度计算方法。试验结果表明,车辆在选定运行模式下的速度及转向角度跟踪控制效果良好,整个运行过程车辆运行平稳,最大运行偏差在运行允许范围内,停车偏差小,验证了该算法的有效性。

Taking the eight wheels 180-degree electric differential steering AGV as the main research object,the kinematic model of the vehicle and the corresponding relationship between the steering angles and wheel speeds of each wheel under the given composite angle and wheel speed are established.According to the results of trajectory planning and design,the path tracking control algorithm of front and rear control points is constructed.Then,the calculation method of target angle and speed of front and rear axis control points is discussed.The test results show that the vehicle speed and steering angle tracking control effect is good under the selected operation mode.During the whole running process,the vehicle runs smoothly,the maximum running deviation is within the allowable range,and the parking deviation is small,which can verify the effectiveness of the algorithm.