仓库搬运机器人导航运动控制与NURBS轨迹规划  

Navigation Motion Control of Warehouse Handling Robot and NURBS Trajectory Planning

作　　者：李航[1] 王朝耀 LI Hang;WANG Chao-yao(Changchun Vocational and Technical College,Jilin Changchun130000,China;Xi’an University of Science and Techno-logy,Shaanxi Xi’an710054,China)

机构地区：[1]长春职业技术学院,吉林长春130000 [2]西安科技大学,陕西西安710054

出　　处：《机械设计与制造》2020年第7期290-295,共6页Machinery Design & Manufacture

基　　金：吉林教育厅教学改革研究课题(2016Z0Z055);国家自然科学基金资助项目(2013-57-0911)。

摘　　要：在仓库搬运的领域中,应用了自主导航移动机器人来取代这些重型移动工程。为了提高使用多个机器人的效率,可以为机器人分配多个交付任务,而不是一次只交付一个包。首先,详细的介绍了仓库搬运机器人的概念和机器人的控制仿真平台,其次,对机器人的双轮差动控制和多任务协调分配进行了研究,这种多任务分配算法(MTA),依靠一个模拟器来测量算法的性能。模拟器对仓库搬运环境进行建模,并通过改变机器人的数量来比较交付生产率。再次,对机器人如何能够在仓库搬运中找到目标位置,提出了导航运动控制方案。最后,提出了一种NURBS算法,提高了机器人在运动过程中的轨迹连续性。实验表明,与使用相同数量的机器人时的单任务分配相比,MTA的效率显着提高。并且机器人能够在无人的环境下精确导航,把物体移动到目标位置点。In the field of warehouse handling,autonomous navigation mobile robot is applied to replace these heavy mobile engineering.To improve the efficiency of using multiple robots,you can assign multiple delivery tasks to the robot instead of delivering one package at a time.Firstly,the concept of warehouse handling robot and its control simulation platform are introduced in detail in this paper.Secondly,the dual-wheel differential control and multi-task coordination assignment of robot are studied.This multi-task assignment algorithm(MTA)relies on a simulator to measure the performance of the algorithm.The simulator models the warehouse handling environment and compares delivery productivity by changing the number of robots.Thirdly,how the robot can find the target position in the warehouse transportation is proposed.Finally,a NURBS algorithm is proposed to improve the trajectory continuity of the robot in the moving process.Experiments show that compared with single-task assignment with the same number of robots,the efficiency of MTA is significantly improved.And the robot can navigate accurately in an unmanned environment,moving objects to target points.

关 键 词：仓库搬运 运动控制 轨迹规划 导航控制 

分 类 号：TH16[机械工程—机械制造及自动化]