非圆形AMV在变向路段的车体可活动范围研究  

Study on Vehicle Body Movable Range of Non-circular AMV in Direction Change Section

作　　者：全思博 王荣辉[2] QUAN Sibo;WANG Ronghui(Foshan Shaoma Intelligent Equipment Technology Co.,Ltd.,Foshan 528225,China;South China University of Technology,Guangzhou 510641,China)

机构地区：[1]佛山哨马智能装备科技有限公司,广东佛山528225 [2]华南理工大学,广东广州510641

出　　处：《现代信息科技》2021年第12期14-17,共4页Modern Information Technology

基　　金：广东省自然科学基金项目(2020A1515011503);广东高校重点平台和科研项目(2019KTSCX003)。

摘　　要：通常移动机器人的路径规划是在地图平面上,将机器人简化为质点或圆形,再对障碍物的轮廓进行膨胀得出的,非圆运动体沿着这样的规划路径运行,很可能会在变向区段受到干扰,或者规划中被判定为无路可走,而实际上可在一定条件下通行。考虑AMV形状、大小几何约束和道路条件,经建模计算出AMV以斜向平移、定点自转和沿曲线转弯等方式通过变向段的约束参数;模拟AMV连续运动通过变向段,得到其可通过的车体中心可活动范围,在此范围内的路径既安全又不过于保守。Generally,the path planning of mobile robot is obtained by simplifying the robot into a mass point or a circle on the map plane,and then expanding the outline of the obstacles.If the non-circular moving body runs along such a planned path,it is likely to be disturbed in the direction change section,or it is determined that there is no way to go in the planning,but it can actually pass through under a certain condition.Considering the shape,size and geometric constraints of the AMV and road conditions,the constraint parameters of AMV passing through the direction change section by oblique translation,fixed-point rotation,and turning along the curve are calculated through modeling;simulate the continuous movement of AMV passing through the direction change section to obtain the movable range of the vehicle body center that it can pass through,and the path within this range is safe and not too conservative.

关 键 词：AMV 非圆车体 规划路径 变向 可活动范围 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]