Four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation

Abstract

The invention discloses a four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation. The method comprises: acquiring AGV attitude deviation data in a two-dimensional code; calculating a first angle offset when the AGV controls the steering motor to perform deflection angle correction and a first displacement offset when the AGV controls the steering motor to perform displacement correction; judging the AGV attitude deviation data and the first angle deviation, judging whether the turntable rotates back after keeping the maximum angle of the turntablefor a preset time, and generating a deflection angle correction motor speed control curve; according to the AGV attitude deviation data and the first displacement deviation, judging whether the turntable rotates back after keeping the maximum angle of the turntable for a preset time, and generating a deviation correction motor speed control curve; and controlling the speed of the motor by utilizing the speed curves of the steering motor and the driving motor and the speed control curve of the offset correction motor. According to the method, a proper deviation rectifying path can be planned according to initial deviation and inherent parameters of the AGV, four driving motors and speed curves of the four driving motors are obtained, and motion deviation rectifying is completed.

Description

technical field [0001] The invention relates to the technical field of motion control of mobile robots, in particular to a four-wheel steering AGV trajectory correction method based on two-dimensional code navigation. Background technique [0002] At present, AGV (Automated Guided Vehicle) has been widely used in warehousing logistics, intelligent parking and other fields due to its advantages of strong mobility, strong controllability, high work efficiency, time saving and human resources. According to its steering drive mode, it can be divided into differential drive AGV, Macram wheel AGV, steering wheel drive steering AGV, etc. Among them, the steering wheel drive steering AGV is similar to the steering mode of a car, and can be divided into front wheel steering, rear wheel steering and four-wheel steering. In other ways, the steering is realized by turning the wheel set. Since the angular velocity cannot be mutated during the movement of the AGV, its control is more diff...

AI Technical Summary

Problems solved by technology

However, this method is not suitable for four-wheel steering and four-wheel drive AGVs. Since slippage may occur, it is difficult to accurately estimate the motion state of the AGV with known four-wheel states, so this feedback correction is not applicable

[0005] Therefore, when the four-wheel steering four-wheel drive AGV uses QR code navigation and cannot obtain real-time and accurate position information feedback, how to effectively complete the motion correction has become a major problem in motion control

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