| AGV多传感器导航系统研究 |
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| 引用本文： | 朱从民,黄玉美,上官望义,马斌良.AGV多传感器导航系统研究[J].仪器仪表学报,2008,29(11). |
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| 作者姓名： | 朱从民 黄玉美 上官望义 马斌良 |
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| 作者单位： | 1. 西安理工大学机仪学院,西安,710048;总后建筑工群研究所,西安,710032
2. 西安理工大学机仪学院,西安,710048 |
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| 摘 要： | 本文设计了由电位器、编码器、陀螺仪和磁栅尺组成的AGV多传感器导航系统,采用一种简化的Kalman滤波器对这些传感器的数据进行融合来实现AGV的位姿估计,离线处理陀螺仪和编码器信号的协方差。针对编码器和陀螺仪的积累误差,在路径上每隔一段距离设置一对磁钉,由磁栅尺检测进行绝对位姿校正。这种算法简单易行,可在运动控制卡上编程实现,提高了AGV系统的实时性和导航精度。在操舵型AGV牵引车上的实验证明了这种方法的有效性。
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| 关 键 词： | Kalman滤波器 AGV 导航系统 |
AGV navigation system with multiple sensors |
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| Zhu Congmin,Huang Yumei,Shangguan Wangyi,Ma Binliang.AGV navigation system with multiple sensors[J].Chinese Journal of Scientific Instrument,2008,29(11). |
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| Authors: | Zhu Congmin Huang Yumei Shangguan Wangyi Ma Binliang |
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| Affiliation: | 1;2;1 School of Mechanical and Instrumental;Xi'an University of Technology;Xi'an 710048;China;2 Institute of Construction Engineering of General Logistic Department of PLA;Xi'an 710032;China |
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| Abstract: | An AGV navigation system is presented,which consists of several sensors:a potentiometer,an encoder, a gyroscope and a magnet sensor.A simplified Kalman Filter is used to estimate the position of the AGV through fu- sing data from several sources.The covariances of gyroscope and encoder system are measured off-line.To correct the accumulation error,the position and orientation of the AGV can be updated by installing pairs of magnets in the path at certain interval and detecting their positions with a magneti... |
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| Keywords: | Kalman filter AGV navigation system |
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