本文關(guān)鍵詞：自動導(dǎo)引小車AGV自適應(yīng)避障策略的研究與實現(xiàn)　出處：《華南理工大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： AGV 自適應(yīng)避障 模糊推理 紅外傳感器

【摘要】：在交通物流產(chǎn)業(yè)高速發(fā)展的今天,機器人技術(shù)的應(yīng)用程度已經(jīng)成為決定企業(yè)間相互競爭和未來發(fā)展的重要衡量因素。自動導(dǎo)引小車AGV作為智能機器人的一種已經(jīng)成功運用到物流產(chǎn)業(yè),其效率不言而喻。尤其在貨物搬運、周轉(zhuǎn),AGV都可以完全勝任。為了保障AGV運輸途中行駛安全,AGV需要具有避障功能�，F(xiàn)有的避障策略是設(shè)定一個固定的距離閾值,當(dāng)AGV與障礙物的距離小于這個閾值時就立即停車。顯然,這種方法存在一定的缺陷,例如當(dāng)障礙物為移動物體(AGV或叉車、行人)時,AGV會因為與障礙物距離的實時變化而出現(xiàn)時走時停的現(xiàn)象,明顯降低AGV的運輸效率。本文針對現(xiàn)有避障策略存在的缺陷,根據(jù)AGV實際行駛環(huán)境,提出了AGV自適應(yīng)避障策略,在保證AGV行駛安全的前提下,減少不必要的啟停動作。為實現(xiàn)避障策略的自適應(yīng)性,本文首先通過分析AGV的制動過程,得到影響AGV最短制動距離的主要因素,為了保證AGV車體和牽引貨物的安全,把牽引貨物的質(zhì)量和轉(zhuǎn)彎半徑作為影響停車距離的因素,通過模糊推理得到一個優(yōu)化的制動距離;以這個制動距離為基礎(chǔ),建立一個兩級報警系統(tǒng),并設(shè)計了一個基于紅外測距傳感器的自適應(yīng)報警器。最后,對自適應(yīng)避障策略相關(guān)參數(shù)和報警距離之間的關(guān)系用matlab進行了仿真,并編寫了一個簡單的軟件來驗證AGV避障策略的正確性,然后在實驗室現(xiàn)有AGV小車上進行自適應(yīng)避障策略實車實驗,實驗結(jié)果證明這種自適應(yīng)避障策略是可行的,報警策略是有效的,提升了AGV的運輸效率。
[Abstract]:In the transportation logistics industry rapid development today. The application degree of robot technology has become an important measure factor to decide the competition among enterprises and the future development. As an intelligent robot AGV has been successfully applied to the logistics industry. Its efficiency is self-evident. Especially in cargo handling, the AGV can be completely competent. In order to ensure the safety of AGV in transit. The existing obstacle avoidance strategy is to set a fixed distance threshold and stop immediately when the distance between the AGV and the obstacle is less than this threshold. There are some defects in this method, for example, when the obstacle is moving object or forklift vehicle, the AGV will stop when the distance between AGV and the obstacle changes in real time. Aiming at the defects of the existing obstacle avoidance strategy, according to the actual driving environment of AGV, the AGV adaptive obstacle avoidance strategy is proposed to ensure the safety of AGV. In order to realize the self-adaptability of obstacle avoidance strategy, this paper first analyzes the braking process of AGV and obtains the main factors that affect the shortest braking distance of AGV. In order to ensure the safety of the AGV carbody and the traction cargo, the quality and turning radius of the traction cargo are taken as the factors affecting the stopping distance, and an optimized braking distance is obtained by fuzzy inference. Based on this braking distance, a two-stage alarm system is established, and an adaptive alarm based on infrared ranging sensor is designed. The relationship between the parameters and alarm distance of adaptive obstacle avoidance strategy is simulated by matlab, and a simple software is developed to verify the correctness of AGV obstacle avoidance strategy. The experiment results show that the adaptive obstacle avoidance strategy is feasible, the alarm strategy is effective and the transportation efficiency of AGV is improved.
【學(xué)位授予單位】：華南理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242
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本文編號：1423481