AGV激光导航中反射板布设研究北大核心CSCD

针对激光导航自动导引车(automatic guided vehicle,AGV)系统中反射板布局质量难以衡量的问题,本文提出了利用水平精度因子(horizontal dilution of precision,HDOP)来表征反射板在空间几何分布质量的方法。水平精度因子反映了定位系统中路标的几何布局与定位精度之间的关系,在相同的测距精度下,待定位置的HDOP值越小,该位置的定位精度就越高。通过定位仿真实验,分析了4种定位方案下HDOP值与定位误差的关系,结果表明,HDOP值较小的位置,AGV的定位精度也越高;在测试点位于反射板所围成的封闭区域内以及合理地增加反射板数目的情况下,测试点的HDOP值较小、定位误差小。基于此,可以通过合理布设反射板的位置、增加反射板的数量,来提高AGV的定位精度。

Study on reflector layout in AGV laser navigation

In order to solve the problem of the quality of the reflector layout in the laser guided AGV(automatic guided vehicle)system,a method to measure the distribution quality of reflector plate by calculating horizontal dilution of precision(HDOP)is proposed in this paper.HDOP reflects the relationship between the geometric layout of the landmarks and the positioning accuracy in the positioning system.Under the same ranging accuracy,the smaller the HDOP value of the undetermined position,the higher the positioning accuracy of that position.Through the positioning simulation experiment,the relationship between HDOP value and positioning error under four positioning schemes is analyzed.The results show that the position where HDOP is smaller,the positioning accuracy of AGV is higher.When the test point is located in the closed area enclosed by the reflection plate and the number of reflector is reasonably increased,the HDOP value of the test point as well as the positioning error is small.Based on the result,the positioning accuracy of AGV can be improved by setting the position of reflectors reasonably and increasing the number of reflectors.