Magnetic combined navigation method of AGV (automated guided vehicle)

Abstract

The present invention relates to a magnetic combined navigation method of an AGV (automated guided vehicle). The method mainly comprises a combination method of command magnetic tapes, a signal filtering algorithm and an AGV navigation control algorithm. According to the magnetic combined navigation method, a plurality of magnetic tapes are combined into a function command; magnetic tapes are laid in a crossed manner between commands; command magnetic tapes of the same polarity are laid inconsecutively at the same sampling point; the signals of a command sensor are received through IO external triggering interruption, the effectiveness of the signals is analyzed through detecting the duration and receiving sequence of the signals; the signals of a navigation sensor are received through an IO scanning mode, and whether the signals are discarded is determined through detecting the continuity of the sampling points and the duration of the signals; and control speed is calculated based on the deviation distances of the center of the navigation sensor and the centers of the magnetic tapes through using the fuzzy self-tuning PD control law, and the control speed is provided for a motor, and therefore, the pose of the AGV is adjusted. The method of the invention has the advantages of reliable signal sampling, effective and robust controller and good navigation control effect.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, and in particular relates to an AGV magnetic combination navigation method. Background technique [0002] Automatic guided vehicle (AGV) is a hot research object in contemporary logistics, and navigation technology is a key component of AGV control system. Accurate reception of tape sensor signals is the fundamental premise to ensure stable and reliable navigation of AGV. But in reality, due to the disturbance of the external environment, the sensor signal often has instantaneous jitter, so it is necessary to perform filtering work. Among them, the command signal has high requirements on the fault tolerance rate, and almost no false detection is allowed, while the navigation signal does not have such a high standard. The navigation controller determines the smoothness of the AGV operation process and the track tracking accuracy, and is one of the core technologies of the AGV control syste...

AI Technical Summary

Problems solved by technology

The inventor found in the process of implementing the present invention that the above-mentioned controller scheme has the following disadvantages: the establishment of the fuzzy rule base has high professional requirements, so the development cycle is long, the debugging is difficult, and under the unreasonable rule base, the AGV tracking process Poor smoothness and track tracking accuracy

Images