AGV Navigation Calculation Introduction

04/16/202015:52:20 Comments 804

Simply put, the AGV navigation is to let the AGV really know where it is, that is, to determine the position (x, y) and heading of the AGV itself in the global coordinate system. As shown in the figure, the AGV indicates the position of the AGV in the entire plane coordinate system with a point A, that is, a reference point. The position includes information on the angle between the AGV travel direction and the x axis (heading) in addition to the x and y information.

AGV Navigation Calculation Introduction

The accurate information of AGV navigation comes from fixed targets on the ground (positioning blocks or laser reflectors, etc.), which is called the "actual position" of the AGV, but it is usually limited to the constraints of site conditions and positioning sensor conditions, and the real-time information of the actual position cannot be satisfied The need for AGV motion control, for this reason, position estimation (Dead Reckoning) must also be performed during the actual position sampling period.

AGV Navigation Calculation Introduction

The actual position of the AGV refers to the actual position information obtained from the calculation of the fixed target on the ground, and its accuracy depends on the measurement accuracy of the target.

The ideal position of the AGV refers to the position in the ideal state, which is determined by the path trajectory equation of the AGV.

The estimated position of the AGV refers to the position obtained by estimating the position through the current velocity and steering angle information of the AGV within the sampling period of the actual position.

The estimated position is really used for AGV guidance control, and the actual position is only a regular correction to the estimated position. The problem to be solved by navigation is to estimate the current position of the AGV based on the AGV motion model, that is, the estimated position.

 

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