摘要
自动导航小车(AGV)是一种用于柔性加工系统中以实现物料搬运的移载用轮式移动机器人。为完成其任务,AGV的控制系统必须具备定位、路径规划和导航等功能。考虑到其工作环境的特殊性,为自制的XAUT.AGV100设计了一种定位系统。理论分析和实验均表明:位置精度≤±3 mm,姿态精度≤±0.5°,完全满足生产车间对操作机的精度要求。
Automatic guided vehicle （AGV） is a kind of wheeled mobile robot （WMR） ,which is used to convey the material in flexible manufacture system（FMS）. In order to carry out the task, the functions such as path planning,navigation and positioning must be possessed by the control system of AGV. While considering the specificity of its environment,a new positioning method is proposed for XAUT. AGV100 made by ourselves. It is proved through the theory analysis and experiment that positioning precision is ≤±3 mm, posture precision is ≤±0.5°. It can full meet the meeds of robot＇s accuracy.
出处
《传感器技术》
CSCD
北大核心
2005年第10期23-25,28,共4页
Journal of Transducer Technology
关键词
轮式移动机器人
自动导航小车
定位
超声波传感器
实验
wheeled mobile robot （WMR）
automatic guided vehicle （AGV）
position
ultrasonic sensors
experiment
