自动导引车定位方法研究  

Research of AGV Localization Algorithm Based on the IACT

作　　者：宋英博[1] 张桂香[1] 

机构地区：[1]湖南大学机械与运载工程学院,湖南长沙410082

出　　处：《计算机仿真》2015年第1期353-356,共4页Computer Simulation

基　　金：长沙市科学技术局产学研金合作资金专项(重点)(K1303154-11)

摘　　要：自动导引车(Automated Guided Vehicle,AGV)定位是机器人智能研究中的一项关键内容。目前,在较为复杂的环境下,激光导引AGV定位需要采集多个环境信息。在多个环境信息优化选择中,为了克服多信息采集的干扰,需要使用包含大量方程组和三角函数运算的三角定位法,计算量巨大,耗时明显。提出一种改进的自动导引车定位方法,将激光测距和改进的循环三边组合测量法(Improved alternating combination trilateration,IACT)应用于其定位优化计算中。通过对反射板的位置坐标及激光测距传感器返回的距离数据的计算得到AGV的位置。以三边测量法为基础,通过权重函数增加了其定位精度,通过定义权重因子,只选用权重值较大的权重多边形顶点坐标进行计算,进一步减少了算法的计算量,减少定位时间。实验结果表明,改进算法使AGV的定位精度控制在一个较高的水平下的同时,系统的计算量也明显减少。Automated Guided Vehicle （AGV） positioningis a key content in the study of. intelligent robot. Nowadays. The laser guided AGV need to collect multiple environmental information in many complex environments in the process of positioning. In the optimal selection of multiple environmental information, in order to overcome interference caused by the collection of multiple information, The traditional algorithm which contains large amount of equations and Trigonometric functions is used. The algorithm has a great amount of calculation and spends a lot of time. An improved AGV positioning method is proposed, the laser ranging and improved alternating combination trilateration （IACT） is put forward in the calculation of position optimization in this paper. The positioning method get the location of the AGV by calculating the data got from laser ranging sensor and the location coordinates of the reflectors. The trilateral measurement method is the foundation, the positioning accuracy is increased by using the weighting function. The computational complexity of the algorithm and positioning time are reduced by choosing the polygon vertex which have many weights to be calculated via weight factors. The experimental results show that the algorithm reduces the computational complexity as well as keeping a good localization accuracy.

关 键 词：自动导引车 激光测距 三边测量法 权重函数 权重因子 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]