基于改进型纯追踪模型的温室AGV运输平台路径追踪

Path Tracking of Greenhouse AGV Transportation Platform Based on Improved Pure Pursuit Model

提出了一种基于改进型纯追踪算法的AGV运输平台路径追踪方法。在平台前后安装双排红外反射式光电传感器,以获取车体相对于引导线的横向偏差和航向偏差;根据偏差程度动态确定纯追踪算法的前视距离,提高了路径跟踪的精度;构建了平台运动学模型,将车体的位姿偏差信息最终转化成左右车轮的速度。仿真和实车试验表明:该方法能够解决不同初始状态的移动平台路径追踪问题,在稳定状态下,其偏差在±20mm之间,满足温室内狭窄空间的循迹运输需求。

In this paper,a path tracking method for AGV transport platform based on improved pure pursuit algorithm is proposed. The double row infrared reflective photoelectric sensor was installed before and after the platform to obtain the lateral deviation and heading deviation of the AGV relative to the navigation line. The look ahead distance of the pure tracking algorithm was dynamically determined according to the deviation degree,and the precision of the path tracking was improved. The model of the AGV movement was constructed,and the position deviation information of the car was eventually converted to the speed of the left and right wheels. The simulation and real vehicle test showed that the method cold solve the problem of path tracking in different initial states. Under the stable state,the deviation was between positive and negative 20 mm,which satisfied the requirement of tracking transportation in narrow space in greenhouse.