| 陆佳依， 金晓怡， 江鸿怀， 奚鹰.基于智能仓储的AGV道路识别系统[J].轻工机械,2020,38(3):74-77 |
| 基于智能仓储的AGV道路识别系统 |
| AGV Road Identification Based on Intelligent Warehousing |
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| DOI：10.3969/j.issn.1005 2895.2020.03.015 |
| 中文关键词: 自动导引车 智能仓储拓扑图 反光板 道路识别 道路修正 PID调节 |
| 英文关键词:AGV（automated guided vehicle） intelligent storage topology reflector road identification road correction PID adjustment |
| 基金项目:智能仓储AGV预研项目；江西省赣州市科技重大专项项目（TGS20180102）。 |
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| 中文摘要: |
| 针对AGV在执行路径过程中出现位置错误或偏离道路的情况，课题组提出了一套利用激光雷达探测反光板的道路识别方案。介绍了基于智能仓储拓扑图的反光板布设方式；设计了基于数学几何知识的AGV动态识别位置信息的方案；设计了在不同地图属性条件下基于限幅或PID调节的道路修正的方案，防止AGV行进过程中偏离理想道路。应用结果表明：本设计具有较快的位置信息获取速度和错误位置信息处理能力；运行过程中能够较稳定地行走在规划路径中心位置，在阳光等干扰因素存在条件下依然可以保持优良的鲁棒性。该研究使用反光板能大幅提高激光雷达位置计算速度，在车身存在机械误差条件下，通过修正算法能够保证小车稳定行驶在道路的理想位置。 |
| 英文摘要: |
| Aiming at the position error or deviation of AGV from the road during the execution path, the road identification scheme using lidar to detect reflector was proposed by the research group. This paper introduced the layout of reflector based on intelligent storage topology,designed a scheme of AGV dynamic location information recognition based on mathematical geometry, and designed a road correction scheme based on limit or PID adjustment under different map to prevent AGV from deviating from the ideal road. The results show that this design has a fast speed of location information acquisition and processing ability of error location information. It can walk steadily in the central position of the planned path during operation, and can still maintain excellent robustness in the presence of interference factors such as sunlight. In this paper, the speed of lidar position calculation using reflector is greatly improved, and the AGV vehicle body can run steadily in the ideal position of road by using the modified algorithm under the condition of mechanical error. |
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