Research on Trajectory Tracking of Forklift Robot with Single Steering Wheel in Logistics Storage
Due to low positioning accuracy and large travel trajectory deviation in traditional AGV forklift ro-bot motion control scheme,a single steering wheel forklift robot motion control scheme will be proposed based on dual population ant colony algorithm.Firstly,two sets of coordinate systems,namely global coordinate system and local coordinate system,were constructed to determine the relative position change of the forklift robot.U-sing the kinematics model and real-time communication data,the current position of the forklift robot was accu-rately located;in terms of optimal travel path selection,the strategy of dividing two populations gave full play to the advantages of elite individuals in path iterative optimization.At the same time,through real-time interaction with the main population,cooperative pheromones can stop elite individuals from falling into local optimal solu-tions and ensure that elite individuals can choose the optimal path in the scope.The experimental results show that the proposed trajectory tracking scheme has smaller positioning accuracy deviation,higher efficiency,and the selected path is the shortest motion trajectory.
logistics warehousingsingle steering wheelforklift robottrackdouble ant colonycoopera-tive pheromone
NETL
NSTL
万方数据
维普
