摘要
针对目前AGV路径规划时存在的缺陷 ,提出了一种基于机床位姿矩阵的AGV的路径规划方法。该方法通过建立车间环境信息库 ,即机床的相对位置关系矩阵、相邻机床距离矩阵及机床的姿态矩阵 ,对AGV的运动速度加以有效控制 ,使AGV能准确地按预定路径由起始位置到达目标位置 ,保证在制品准确及时地传输。仿真结果表明 ,该方法计算判断简单、省时 ,实时性好。
This paper presents a method of the path planning for AGV in FMS. Through establishing the relative position matrix of machine tools, the distance matrix and orientaition matrix of neighbor machine tools, AGV can be effectively controlled and move to destination on prearranged path. It can be made making-product convey exactly and punctually. Simulating result indicates that the method is simple, saving-time and has a good real-time characteristic.
出处
《组合机床与自动化加工技术》
北大核心
2003年第7期18-20,共3页
Modular Machine Tool & Automatic Manufacturing Technique
