针对大空间自动导引车(AGV)的高精度路径规划控制应用,提出一种基于工作空间测量定位系统(wMPS)和模糊控制算法相结合的应用模式。事先规划好AGV路径,采用wMPS对AGV实时位姿进行精确测量,通过模糊控制算法输出实时调整AGV的前进速度和旋转角速度。算法仿真与实验结果表明,AGV的定位精度优于2.5 mm,能够保证AGV的动态导航和定位精度。

An application mode for high-precision path planning control application of automated guided vehicle (AGV) with a large space is proposed based on the combining of the workshop measurement positioning system (wMPS) and the fuzzy control algorithm. AGV path is planned in advance, and the real-time position and pose of AGV is accurately measured by wMPS, and the real-time forward and rotational speed parameters of AGV are output by the fuzzy control algorithm. Simulation and experimental results show that the positioning accuracy of AGV is better than 2.5 mm, which can ensure dynamic navigation and positioning accuracy of AGV.