基于麦克纳姆的全向AGV自转与公转耦合控制算法  

Coupled Control Algorithm for Rotation and Revolution of Omni-directional Automated Guided Vehicle based on Mecanum

作　　者：申爱民[1] 赵志凌 Shen Aimin;Zhao Zhiling(Chengdu Aeronautic Polytechnic,Chengdu 610100,China;State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China)

机构地区：[1]成都航空职业技术学院机电工程学院,四川成都610100 [2]重庆大学机械传动国家重点实验室,重庆400044

出　　处：《机械传动》2018年第9期106-110,148,共6页Journal of Mechanical Transmission

基　　金：国家重点研发计划政府间专项项目(2016YFE113600);国家自然科学基金(51605059)

摘　　要：基于麦克纳姆的全向移动小车(Automated guided vehicle,AGV)在工业生产中有着广泛的应用。其现有的控制方法主要是通过单独控制AGV平移和转动来实现AGV的全向移动。通过分析AGV的运动学规律,提出了AGV自转、公转以及两者耦合运动的控制算法。运用理论分析、软件仿真和实验验证等手段,证明了该算法的有效性。提出的算法可拓展应用在任意曲线路径,具有较大的实际意义。The omni-directional mobile vehicle(Automated guided vehicle,AGV)based on Mecanum wheel in industrial production has a wide range of applications.The existing control methods mainly realize the AGV omni-directional movement by controlling the AGV translation and rotation separately independently.Through analyzing the kinematics law of AGV,and a control algorithm of AGV rotation,revolution and coupling motion is proposed.The theoretical analysis,computer simulation and experiments prove the effectiveness of the proposed algorithm.The proposed algorithm can be extended to an arbitrary curve path,which may have a great practical significance.

关 键 词：麦克纳姆轮 全向移动小车 控制算法 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]