AGV多传感器导航系统研究  

AGV navigation system with multiple sensors

作　　者：朱从民[1,2] 黄玉美[1] 上官望义[1] 马斌良[1] 

机构地区：[1]西安理工大学机仪学院,西安710048 [2]总后建筑工程研究所,西安710032

出　　处：《仪器仪表学报》2008年第11期2419-2423,共5页Chinese Journal of Scientific Instrument

摘　　要：本文设计了由电位器、编码器、陀螺仪和磁栅尺组成的AGV多传感器导航系统,采用一种简化的Kalman滤波器对这些传感器的数据进行融合来实现AGV的位姿估计,离线处理陀螺仪和编码器信号的协方差。针对编码器和陀螺仪的积累误差,在路径上每隔一段距离设置一对磁钉,由磁栅尺检测进行绝对位姿校正。这种算法简单易行,可在运动控制卡上编程实现,提高了AGV系统的实时性和导航精度。在操舵型AGV牵引车上的实验证明了这种方法的有效性。An AGV navigation system is presented, which consists of several sensors ： a potentiometer, an encoder, a gyroscope and a magnet sensor. A simplified Kalman Filter is used to estimate the position of the AGV through fusing data from several sources. The covariances of gyroscope and encoder system are measured off-line. To correct the accumulation error, the position and orientation of the AGV can be updated by installing pairs of magnets in the path at certain interval and detecting their positions with a magnetic sensor. The algorithm is easy to be implemented and can be programmed in motion control card; this algorithm can improve the real-time performance and position accuracy of the AGV system. The navigation system was applied in a tricycle AGV tugger system and the experiment results indicate the effectiveness of the method.

关 键 词：KALMAN滤波器 AGV 导航系统 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置]