| 夏韵凯*,张征*,蔡颖杰**,戚鸿斌*,姚富林*,周圣云* **.基于偏差的纯追踪双舵轮停车AGV全向运动轨迹跟踪[J].高技术通讯(中文),2021,31(12):1303~1311 |
| 基于偏差的纯追踪双舵轮停车AGV全向运动轨迹跟踪 |
| Omnidirectional path tracking using deviation-based pure pursuit for dual steering wheel parking AGV |
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| DOI：10.3772/j.issn.1002-0470.2021.12.008 |
| 中文关键词: 双舵轮停车自动导引车（AGV）； 轨迹跟踪； 纯追踪； 运动控制 |
| 英文关键词: dual steering wheel parking automated guided vehicle (AGV), path tracking, pure pursuit, driving control |
| 基金项目: |
| 作者 | 单位 | | 夏韵凯* | | | 张征* | | | 蔡颖杰** | | | 戚鸿斌* | | | 姚富林* | | | 周圣云* ** | |
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| 摘要点击次数: 2519 |
| 全文下载次数: 1867 |
| 中文摘要: |
| 提出了一种基于偏差的纯追踪双舵轮停车自动导引车（AGV）的全向运动轨迹跟踪算法。本文对全向双舵轮停车AGV进行了运动模型建模，设计了适合双舵轮全向驱动的运动控制方式。根据双舵轮停车AGV常规曲线运动与横移曲线运动的特点，提出了基于距离与角度偏差的纯追踪双舵轮停车机器人的全向运动轨迹跟踪。本文使用了Python对双舵轮停车机器人的运动控制与轨迹跟踪进行了数学建模并仿真，验证了设计方法的可行性。通过实验验证了基于偏差的纯追踪与纯追踪算法的控制比较，实验结果表明所提出的双舵轮全向轨迹跟踪具有良好的控制性能。 |
| 英文摘要: |
| An omnidirectional motion path tracking method based on deviation-based pure pursuit for dual steering wheel parking automated guided vehicle (AGV) is proposed. The motion model of the omnidirectional dual steering wheel parking AGV is modeled, and a motion control method is designed for the dual steering wheel omnidirectional driving. According to the characteristics of the conventional curve motion and the lateral curve motion of dual steering wheel parking AGV, an omnidirectional motion path tracking of AGV using pure pursuit based on distance and angle deviation is proposed. Python is used to mathematically model and simulate the motion control and trajectory tracking of the dual steering wheel AGV, and the feasibility of the design method is verified. The control comparison of deviation-based pure pursuit method and pure pursuit method is carried out through experiments. The experimental results show that the proposed dual steering wheel omnidirectional path tracking has good control performance. |
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