School of Mechanical Engineering, Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Ministry of Education, Shandong University, Jinan 250061, Shandong, China.
Shandong Computer Science Center (National Supercomputer Center in Jinan), Shandong Key Laboratory of Computer Networks, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250014, Shandong, China.
Comput Intell Neurosci. 2022 Jul 14;2022:8981778. doi: 10.1155/2022/8981778. eCollection 2022.
Automated guided vehicle technology has become a hot area of scientific research due to its increasing use in manufacturing and logistics. Its main features are programming and control, remote computer eye tracking, command receiving and execution, autonomous route planning, and autonomous driving execution of tasks, with the advantages of high intelligence and flexibility. In this work, a simple vehicle model is used to study the route planning and tracking control of automatic guided vehicles. This paper uses wireless communication to find the optimal route planning problem. Using geometric methods, we develop a model of the working environment of the mobile automatic guided vehicle and develop a route finding algorithm. Based on the kinematic model, an advanced routing controller is designed to conduct experimental simulation of two trajectories and verify the effectiveness of the trajectory tracking controller. When the time is after 2 s, the position error is almost completely zero. In the path planning, when the number of iterations is greater than 10, the path length remains constant, verifying the effectiveness of the method in this paper.
自动导引车技术由于在制造和物流领域的广泛应用，已成为科学研究的热点领域。其主要特点是编程和控制、远程计算机眼踪、命令接收和执行、自主路径规划以及自主执行任务的驾驶，具有高度智能化和灵活性的优点。在这项工作中，使用简单的车辆模型来研究自动导引车的路径规划和跟踪控制。本文利用无线通信来寻找最优路径规划问题。使用几何方法，我们开发了一种移动自动导引车的工作环境模型，并开发了一种路径查找算法。基于运动学模型，设计了一个先进的路由控制器，对两条轨迹进行实验模拟，并验证了轨迹跟踪控制器的有效性。当时间超过 2 秒时，位置误差几乎为零。在路径规划中，当迭代次数大于 10 时，路径长度保持不变，验证了本文方法的有效性。
