Aiming at the poor positioning accuracy of traditional navigation methods and unfixed trajectory generated by path plan-ning algorithm for single-wheel automated guided vehicle(AGV)in complex working environment of printing shop,a fixed path under complete environment map and an improve navigation and positioning accuracy algorithm were studied and designed.As the localiza-tion accuracy of adaptive Monte Carlo localization algorithm does not meet the requirements of the operation,the improved Cartogra-pher-SLAM algorithm combined with PID algorithm is adopted to control the tracking,greatly improving the localization and naviga-tion accuracy.The path planning algorithm under the conventional navigation framework will change the local path due to the obstacle avoidance behavior of AGV vehicles,thus changing the global path in the navigation process and resulting in collisions in the narrow workshop environment,the generating navigation path point algorithm is designed to generate the fixed path composed of straight and arc trajectories for PID control tracking of AGV forklift trucks,the fixed path planning is realized.Experiments show that this meth-od solves the problem of traditional navigation methods in the workshop environment of single-wheel AGV forklift,improves safety and control ability,and work efficiency.
关键词
高精度导航/路径规划/固定路径/避障/PID控制循迹
Key words
high-precision navigation/path planning/fixed path/obstacle avoidance/PID control tracking
维普
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