两轮驱动自动引导车辆定位停车研究

建立了两轮独立驱动自动引导车辆的运动学模型，计算了两轮以不同速度行驶时的运动轨迹。基于所建的运动学模型，提出了两轮驱动自动引导车的定位控制策略。通过试验证实，这种定位控制策略具有很快的停车速度和较高的定位精度。

A kinematics model of Automatically Guided Vehicle (AGV) with two rear independent driving wheels was developed. The moving paths of the two wheels  were computed . Based on this model, a control strategy for AGV with two driving wheels to stop at the specific location was proposed. Because vehicle can not move in lateral direction, even if the vehicle is very close to the expected position, the process to stop at the specific location must need two steps. The first step is that the vehicle moves a distance   in longitudinal direction  to eliminate the offset Δ  y   and orientation error Δ  β  . The second step is to eliminate the distance error   x  +Δ  x    in longitudinal direction. The results of experiments showed that the control strategy has acceptable precision even if the vehicle moves at working speed.

沈阳自动化所机器人开放实验室资助