| 高雪松，李宇昊，张立强.基于磁导航的全向AGV定位技术研究[J].轻工机械,2019,37(1):65-69 |
| 基于磁导航的全向AGV定位技术研究 |
| Research on Omni Directional AGV Positioning Technology Based on Magnetic Navigation |
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| DOI：10.3969/j.issn.1005 2895.2019.01.012 |
| 中文关键词: 自动导引车 磁导航 多磁导引 模糊PID控制 定位 |
| 英文关键词:AGV（Automated Guided Vehicle） magnetic navigation multi magnetic navigation fuzzy PID control location |
| 基金项目:上海特种数控装备及工艺工程技术研究中心项目：大飞机机身数字化对接数控定位系统研发（15DZ1161002）；上海特种数控装备及工艺工程技术研究中心项目：航天器结构件智能制造新模式应用（17DZ2283200）。 |
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| 中文摘要: |
| 在智能车间中，自动导引车（AGV）需要一定的定位精度，而传统的驱动轮很难满足定位要求。针对定位精度问题，考虑成本控制，课题组提出了一种基于多磁导引的全向自动导引车定位方法。首先利用磁传感器实时获取自动导引车当前位置与定位标识点的偏差；然后，采用模糊PID控制生成控制量；最后，将控制量结合全向自动导引车的运动模型实现最终定位。实验结果表明：采用磁导引并结合模糊PID控制，自动导引车的运动稳定性好，定位精度可达±5 mm，同时有效地降低了硬件成本。本研究可实现自动导引车的高效、高精度定位。 |
| 英文摘要: |
| In the intelligent workshop, Automated Guided Vehicle (AGV) requires certain positioning accuracy, while traditional driving wheels are difficult to meet the positioning requirements. Aiming at this problem and cost control, a omni directional AGV location method based on multi magnetic navigation was proposed in this paper. First, the magnetic sensor was used to get the real time deviation between the AGV position and the positioning point. Then, the fuzzy PID control was used to generate the control quantity. Finally, the control quantity was combined with the omni directional AGV motion model to achieve the final positioning. The experimental results show that, with the use of magnetic navigation and fuzzy PID control, the motion stability of AGV is good, the positioning accuracy is up to ±5 mm, and the cost of hardware is reduced effectively. It is of practical significance and innovation. |
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