基于麦克纳姆轮的磁导航AGV纠偏控制研究

采用麦克纳姆轮的移动平台是通过4个轮子转速的相互配合来实现全向移动,因此,每一个轮子的运动都会影响整体的运动方向和速度,若一个轮子出现与地面脱离接触以及打滑等情况,则整个移动平台的移动方向会发生很大的偏离。针对磁导航麦克纳姆轮全向移动AGV沿预定路线行进过程中产生偏离的问题,设计了一种基于姿态角度传感器的路径纠偏控制方法,以采集到的偏差数据作为输入,对AGV的行驶路径进行纠偏。通过试验验证了该方法的有效性。

Research on AGV Deviation Correction Control of Magnetic Navigation Based on Mecanum Wheel

The mobile platform using Mecanum wheels achieves omnidirectional movement through the cooperation of the four wheel speeds. Therefore, the movement of each wheel will affect the overall movement direction and speed. In the case, once one of the wheels lost contact with the ground and slipped, the moving direction of the entire mobile platform would deviate greatly. Aiming at the problem of deviation of magnetically guided Mecanum wheels omnidirectionally moving Automated Guide Vehicle(AGV) along the predetermined route, a path deviation correction control method based on attitude and angle sensors was designed. The collected deviation data was used as input to the AGV driving path for correction. The validity of the method is verified by experiments.