基于位置信息融合的自动引导车路径跟踪研究  

Research on Path Tracing for an Automatic Guided Vehicle Based on Data Fusion Method

作　　者：陈无畏[1] 施文武[2] 王启瑞[1] 王忠臣 黄森仁[1] 

机构地区：[1]合肥工业大学机械与汽车学院 [2]东南大学自动控制系 [3]北汽福田汽车股份有限公司

出　　处：《农业机械学报》2003年第2期69-72,共4页Transactions of the Chinese Society for Agricultural Machinery

基　　金：安徽省自然科学基金资助项目 (项目编号 :0 0 0 43 2 3 8)

摘　　要：提出一种对自动引导车传感器测得的位置信息进行融合的方法 ,该方法克服了相对位置估计方法长时间精度低的缺点和绝对位置估计方法误差值偏大的不足。仿真结果表明 ,应用融合技术后 ,自动引导车的跟踪误差可限制在较小的范围之内 ,与不使用融合技术的自动引导车相比 ,其跟踪效果较好。An automatic guided vehicle (AGV) must provide various functions such as the perception, the location and the control to understand the environment and react accordingly to the task to be performed. If the environment is barely known, the AGV must have a decisional ability that allow an understanding of the mission and a determination of the appropriate actions to be taken. This paper proposed a method to fuse the information of relative location and absolute location for an AGV, which had satisfactory performance and high measuring precision. The simulation results illustrated that the AGV that using the data fusion method had less error of path following than that without using the method.

关 键 词：自动控制技术 自动引导车 信息融合 路径跟踪 位置估计 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]