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AGV inertial navigation correction method based on simulated annealing

An inertial navigation and simulated annealing technology, applied in the field of AGV navigation, can solve the problems of increasing positioning error, inaccurate AGV positioning, affecting the working efficiency of AGV, etc., to achieve the effect of efficient navigation

Active Publication Date: 2020-12-04
GUANGDONG JATEN ROBOT & AUTOMATION
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Problems solved by technology

Among them, inertial guidance uses gyroscopes or encoders for navigation. The path layout is flexible and does not require wires. However, due to the integration of navigation information, the measurement error of the sensor also has an integral effect on the positioning error, so that the positioning error will increase over time. With the passage of time, it continues to increase, resulting in inaccurate positioning of the AGV, which affects the working efficiency of the AGV

Method used

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  • AGV inertial navigation correction method based on simulated annealing
  • AGV inertial navigation correction method based on simulated annealing
  • AGV inertial navigation correction method based on simulated annealing

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Embodiment Construction

[0028] A preferred embodiment of the present invention will be described below with reference to the accompanying drawings.

[0029] see figure 1 and figure 2 , the AGV inertial navigation correction method based on simulated annealing, is characterized in that: comprises the following steps:

[0030] Step A. Install encoders on the left and right front wheels of the AGV to measure the rotation angle of the corresponding wheels during the AGV’s travel, and calculate the distance traveled by the corresponding wheels according to the radius of the wheels, and install RFID readers and magnets on the AGV body. sensor;

[0031] Step B. In the working area of ​​the AGV, establish a rectangular coordinate system according to the specific situation, and use the rectangular coordinate system as the global coordinate system for AGV navigation;

[0032]Step C. On the global coordinate system, plan the AGV driving path, and divide the planned AGV driving path into N segments that can ...

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Abstract

The invention provides a method for correcting the inertial navigation of an AGV based on the simulated annealing. The method acquires the required data of the error correction of the inertial navigation of the AGV through RFID (Radio Frequency Identification) electronic tags and magnetic nails; establishes equation sets for the positioning correction; and uses the simulated annealing algorithm tosolve the equation sets. The method realizes that the AGV can efficiently navigate indoors through encoders on wheels; so that the inertial navigation can also have a high precision of the positioning navigation under the condition that the cost is low.

Description

technical field [0001] The invention relates to the technical field of AGV navigation, and mainly relates to an AGV inertial navigation correction method based on simulated annealing. Background technique [0002] With the development of indoor mobile robot research, its application range is becoming wider and wider, and it plays an important role in people's daily life and industrial production. Among all the research technologies of autonomous mobile robots, navigation technology is the premise and key technology to realize its autonomous operation, autonomous decision-making and autonomous planning. It is the core of this research field, and it is the research focus, focus and difficulty. [0003] AGV is a kind of unmanned handling equipment that can travel along a set path and has a carrying capacity. It provides great convenience in transportation, weightlifting, and testing in the manufacturing environment. It is a robot in the true sense. As a special type of mobile...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 陈达权康博程
Owner GUANGDONG JATEN ROBOT & AUTOMATION
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