二维码导航AGV控制系统研究  

Study on AGV Control System with Two-dimensional Code Navigation

作　　者：张艳[1] 朱振伟[1] ZHANG Yan;ZHU Zhen-wei(School of Mechanical and Electric Engineering/Henan Mechanical and Electrical Vocational College, Xinzheng 451191, China)

机构地区：[1]河南机电职业学院机电工程学院

出　　处：《山东农业大学学报（自然科学版）》2019年第3期441-444,共4页Journal of Shandong Agricultural University：Natural Science Edition

摘　　要：为了提高自动导引车(AGV)的定位精度,实现多个站点精确停靠,本文利用Data matrix二维码的显著特征和预存在二维码中的位置信息对AGV进行导航和定位。鉴于受地面不平和打滑等因素影响AGV在运行过程容易跑偏的问题,采用二步纠偏法在导航方向上对AGV进行纠偏。具体而言,首先采用纯追踪运动模型实现位置纠偏,然后采用于积分分离PID实现角度纠偏。实验证明,采用二维码导航的AGV运行平稳,定位精确。In order to improve the positioning accuracy of the AGV and achieve accurate docking at multiple sites, in this paper, two-dimension code with Data matrix and prestored position information had been applied in navigation and location. Two step correction method was applied in correcting the directions of AGV in view of uneven ground and skidding during AGV running. Specifically speaking, Firstly, the pure pursuit model is used to correct positional deviation, and then the integral separation PID is used to correct angle deviation. Test showed that the AGV based on two-dimensional code navigation ran smoothly and the positioning was accurate.

关 键 词：二维码导航 纯追踪算法 PID 

分 类 号：V448.133[航空宇航科学与技术—飞行器设计]