基于超声波传感器的AGV定位方法的实验研究  

Experiment study of AGV positioning based on ultrasonic sensors

作　　者：史恩秀[1] 黄玉美[1] 闫鹰[1] 陈亮[1] 史文浩[1] 

机构地区：[1]西安理工大学机械自动化研究所,陕西西安710048

出　　处：《传感器技术》2005年第10期23-25,28,共4页Journal of Transducer Technology

摘　　要：自动导航小车(AGV)是一种用于柔性加工系统中以实现物料搬运的移载用轮式移动机器人。为完成其任务,AGV的控制系统必须具备定位、路径规划和导航等功能。考虑到其工作环境的特殊性,为自制的XAUT.AGV100设计了一种定位系统。理论分析和实验均表明:位置精度≤±3 mm,姿态精度≤±0.5°,完全满足生产车间对操作机的精度要求。Automatic guided vehicle （AGV） is a kind of wheeled mobile robot （WMR） ,which is used to convey the material in flexible manufacture system（FMS）. In order to carry out the task, the functions such as path planning,navigation and positioning must be possessed by the control system of AGV. While considering the specificity of its environment,a new positioning method is proposed for XAUT. AGV100 made by ourselves. It is proved through the theory analysis and experiment that positioning precision is ≤±3 mm, posture precision is ≤±0.5°. It can full meet the meeds of robot＇s accuracy.

关 键 词：轮式移动机器人 自动导航小车 定位 超声波传感器 实验 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]