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慣性導(dǎo)航自動(dòng)引導(dǎo)車磁釘校正路徑迭代學(xué)習(xí)方法
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Learning of Inertial Guided AGV with Magnets Correction
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    摘要:

    針對編碼器和陀螺儀組成的AGV導(dǎo)航系統(tǒng)的積累誤差,，在路徑上每隔一段距離設(shè)置一對磁釘，由磁柵尺檢測進(jìn)行絕對位姿校正,。車間環(huán)境障礙使得磁釘?shù)慕^對位置難以精確測量,，給AGV的實(shí)際應(yīng)用調(diào)試帶來不便,。先采用示教方法由AGV測量并記錄磁釘?shù)奈恢茫⒃谝院蟮闹貜?fù)運(yùn)動(dòng)中采用迭代學(xué)習(xí)方法不斷更新局部路徑段的目標(biāo)值,，使AGV更能精確地通過磁釘,，從而保證AGV跟蹤路徑的精度。這種方法安裝磁釘快捷,，AGV系統(tǒng)規(guī)劃調(diào)試方便,，并能克服AGV誤差積累。在前輪操舵型AGV牽引車上的實(shí)驗(yàn)證明了該方法的有效性,。

    Abstract:

    Pairs of magnets were installed in the path at certain interval and were detected by a magnetic ruler to correct accumulation error of position and orientation of inertial guided AGV. It was difficult to get the absolute position of magnets because of obstacles in job shop and this often caused trouble in debugging AGV. A teach-in method was used to record the position of magnets, and iterative learning control was introduced to update the aim point of AGV. After several times’ learning, AGV can run through magnets accurately. This method is easy to use in AGV path tracking. Accumulation of error can be eliminated when correction is done. The results of experiments in a tricycle AGV tugger were given to demonstrate the efficiency. 

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朱從民,黃玉美,馬斌良,肖潔.慣性導(dǎo)航自動(dòng)引導(dǎo)車磁釘校正路徑迭代學(xué)習(xí)方法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2009,40(7):40-44. Learning of Inertial Guided AGV with Magnets Correction[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(7):40-44.

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