基于多传感器的马克纳姆轮AGV位姿确定算法研究

Research on the Determination Algorithm of Position and Gesture of AGV with Mecanum Wheels Based on Multi-sensor

针对马克纳姆轮的结构特点,本研究对采用马克纳姆轮的AGV进行了运动学分析。经分析揭示了要实现可靠的运动控制,对AGV进行即时的位姿确定必不可少。通过给出的8个超声波传感器的位姿确定方案,进行了位姿确定的数学建模。根据其几何关系,考虑到超声波传感器发散角,通过超声波所采集的距离数据,计算出AGV运动中心与运动轨迹位移偏差ΔX和AGV相对于运动轨迹的倾斜角度θ。并对所开发的AGV进行了相应的验证实验,实验证明所建立的基于多个超声波传感器的AGV位姿确定数学模型可以有效地确定AGV的位姿,为马克纳姆轮的AGV路径控制提供可靠的位姿计算数据支持。

According to the structural characteristics of Mecanum wheel,the kinematics of AGV with Mecanum wheels was analyzed in this study.Through kinematic analysis,it was revealed that in order to realize reliable motion control,real-time determination of AGV position and gesture was essential.Through the position and gesture determination schemes of 8 ultrasonic sensors,the mathematical modeling of position and gesture determination was carried out.According to its geometric relationship and considering the divergence angle of ultrasonic sensor,the displacement deviationΔX and the angle deviationθbetween AGV motion center and motion trajectory were calculated through the distance data collected by ultrasonic sensors.Through the corresponding experiment of the developed AGV,it showed that the established mathematical model of AGV position and gesture determination based on multiple ultrasonic sensors can effectively determine the position and gesture of AGV,and can provide reliable position and gesture calculation data support for the path control of AGV of Mecanum wheel.