摘要
分析了AGV传统转向实现方式的优缺点,引入数控系统中成熟的S曲线加减速的控制方法,对AGV的转向过程及转向轨迹进行了规划,并求解了AGV控制参数与其转向轨迹间的函数关系。通过计算机对优化的AGV转向控制进行仿真实验,仿真实验结果表明,对AGV转向角速度进行平滑处理能够提高转向过程中车体的稳定性。
It analyzes the advantages and disadvantages of the traditional steering method and applies the S - curve acceleration and deceleration control which widely used in CNC system, introduces AGV trajectory plan- ning. It establishes the functional relationship between the AGV control parameters and steering trajectory. Based on the computer simulation of AGV steering, it verifies the method of smoothing angular processing in the stabili- ty control of the body.
关键词
自动导引车
转向控制
S曲线加减速
速度规划
Automatic Guided Vehicle, Steering Control, S - curve Acceleration and Deceleration
Velocity Planning
