摘要
自动导航车辆(AGV)要实现物料的运输,需要通过车钩等装置挂接料车。在对车间AGV物流车的导航算法研究中,避障路径规划一直都是研究的重点。借鉴人工势场法和万有引力定律,使用危险斥力场对车间自动导航小车挂接工况中的道路和障碍物建立模型,考虑到AGV慢速行驶的特点,选择线性二自由度动力学模型对车辆建模,进一步分析AGV挂接过程中的约束条件,采用危险斥力场积分最小的“最安全”及兼顾快速的性能指标作为优化目标,建立最优控制问题数学模型,使用高斯伪谱法进行求解。求解结果和仿真分析验证算法的有效性,基于危险斥力场的车间AGV挂接路径规划算法能够规划出一条安全无碰撞的路径。
In order to realize the transportation of materials,Automated Guided Vehicles(AGV)needs to hook up the material truck through couplers and other devices.In the research of navigation algorithm of workshop AGV logistics vehicle,obstacle avoidance path planning has always been the focus of research.With reference to the artificial potential field method and the law of universal gravitation,the dangerous repulsion field is used to model the roads and obstacles in the connecting condition of the automatic navigation vehicle in the workshop.Considering the characteristics of slow driving of AGV,the linear two-degree-of-freedom dynamic model is selected to model the vehicle,and the constraint conditions in the connecting process of AGV are further analyzed.The"safest"with the least integral of dangerous repulsion field and the fast performance index are taken as the optimization target.The mathematical model of the optimal control problem is established and solved by Gaussian pseudospectral method.The solution results and simulation analysis verify the effectiveness of the algorithm,and the workshop AGV articulation path planning algorithm based on hazard repulsion field can plan a safe collision-free path.
出处
《科技创新与应用》
2024年第3期16-20,共5页
Technology Innovation and Application
基金
广州市科技计划项目(202102080312)。
关键词
AGV
路径规划
势场法
伪谱法
危险斥力场
AGV
path planning
potential field method
pseudo-spectral method
hazard repulsion field
