二维码导航AGV短距位姿纠偏控制研究  

Short-range pose correction control for AGV navigation via QR code

作　　者：王二敏[1] 马前帅 WANG Ermin;MA Qianshuai(Engineering Training Centre,Tianjin University of Technology and Education,Tianjin 300222,China)

机构地区：[1]天津职业技术师范大学工程实训中心,天津300222

出　　处：《天津职业技术师范大学学报》2024年第4期31-37,51,共8页Journal of Tianjin University of Technology and Education

基　　金：教育部产学研合作育人项目(201802022017);2022年度本科教学改革与质量建设研究项目(JGY2022-07)。

摘　　要：针对采用二维码导航的自动引导车(automatic guided vehicle,AGV)在短距位姿调整中纠偏能力不足的问题,提出了一种基于阈值分段控制的纠偏策略。对AGV在短距位姿下的航向偏差与横向偏差进行了分析,创新性地以横向偏差作为分段控制的决策依据。当横向偏差小于预设阈值时,系统以航向偏差作为主要控制输入,通过串级PID控制器精确调节航向,以快速矫正AGV的航向角,在此期间横向偏差仅做累积处理不进行即时矫正,此举旨在减少不必要的系统能耗。一旦横向偏差累积超过阈值,或检测到下个站点二维码时,即触发轨迹规划流程,转而以横向偏差为控制输入,运用模糊PID控制器执行轨迹跟踪控制,以确保AGV能够迅速且准确地回归至预定轨迹或抵达下一个站点,同时实现航向与横向偏差的有效置零。测试结果表明:本文提出的阈值分段控制纠偏方法,显著提高了AGV在短距位姿控制中的响应速度与鲁棒性,有效降低了系统能耗,在纠偏过程中保持了较小的差速率,确保了系统的平稳运行,提高了二维码导航AGV的导航精度与运行效率。To address the inadequate rectification capability in Automatic Guided Vehicles(AGVs) using Quick Response(QR) code navigation during short-distance pose adjustments,this paper proposes a rectification strategy based on threshold segmented control.Initially,a comprehensive analysis of the heading deviation and lateral deviation of AGVs under short-distance poses is conducted.Lateral deviation is innovatively utilized as the decision criterion for segmented control.Specifically,when lateral deviation falls below a preset threshold,the system prioritizes heading deviation as the primary control input.A cascaded PID controller is employed to accurately adjust the heading angle,enabling rapid correction of the AGV′ s orientation.During this phase,the lateral deviation is accumulated without immediate correction,aiming to minimize unnecessary energy consumption.Conversely,if the accumulated lateral deviation surpasses the threshold or the QR code of the next station is detected,the trajectory planning process is activated.In this case,lateral deviation becomes the control input,and a fuzzy PID controller is utilized to perform trajectory tracking control.This approach ensures that the AGV promptly and accurately resumes its predefined trajectory or reaches the next station,while simultaneously achieving zero heading and lateral deviations.Test results demonstrate that the proposed threshold segmented control rectification method significantly enhances the response speed and robustness of AGVs during short-distance pose control.Furthermore,it effectively reduces system energy consumption,maintains a low deviation rate throughout the rectification process,and ensures smooth system operation.This research finding offers robust support for enhancing the navigation accuracy and operational efficiency of QR code-navigated AGVs.

关 键 词：二维码导航 AGV 阈值分段控制 串级PID 模糊PID 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TP23[自动化与计算机技术—计算机科学与技术]