The application of AGV with fixed path navigation in intelligent loading and unloading systems cannot meet the requirements of uncertainty in intelligent workstation layout.To address the above issues,an AGV path navigation system based on global vision guidance is proposed,which consists of two func-tions:path generation and tracking.Using cubic polynomial interpolation curve equation,combined with the workstation entrance and exit,loading and unloading areas,and AGV pose data extracted by global vision,the workstation entrance and exit and loading and unloading areas are connected in series to obtain a digital logistics path suitable for the workstation environment.Integrating traditional PID controller,the digital lo-gistics path and pose deviation are taken as input variables to construct an AGV motion control model based on global vision servo.Experimental results show that the proposed AGV path navigation system can accu-rately generate and track the actual logistics path of workstations,whether they are linear or curved,with a maximum path deviation of 10.83 pixels and a maximum average path deviation of 4.02 pixels,which has good applicability and stability.
维普
万方数据