一种用于室内传播测量的自动制导车辆的研制

L. Ailes, M. D. Keitz, S.L. McCulley, S. Seidel, M. Deisenroth, T. Rappaport
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引用次数: 6

摘要

在弗吉尼亚理工大学,一种自动引导车辆(AGV)已经开发出来,用于室内传播测量和计算机集成制造实验室的研究/教学工具。介绍了AGV的设计策略、导航方法和一种用于最小化航位推算导航中车轮半径不等引起的路径误差的校准技术。开发了航位推算导航的基本几何形状,特别强调使用校准运行来产生精确的车轮半径和导航中使用的转向校正因子。在实际的AGV上使用了这些技术,并在操作条件下进行了测量以确定导航精度。航位推算的主要限制来自对车轮半径的不正确估计。这可以通过校准运行来补偿,但是轮胎半径仍然可能由于动态条件而改变,例如在转弯时车辆重量的重新分配,以及轮胎本身的不精确制造。通过使用校准的航位推算来测量车辆位置,可以显示沿着10米路径的精确车辆位置在几厘米内
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Development of an autonomous guided vehicle for indoor propagation measurements
At Virginia Tech, an autonomous guided vehicle (AGV) has been developed for use in indoor propagation measurements and for a research/teaching tool in the Computer Integrated Manufacturing Laboratory. The AGV design strategy, navigation methodology, and a calibration technique used to minimize path errors caused by unequal wheel radii in dead-reckoning navigation are described. The basic geometry of dead-reckoning navigation is developed, with a particular emphasis on the use of a calibration run to yield exact wheel radii and steering correction factors for use in navigation. These techniques were used on an actual AGV, and measurements were taken under operating conditions to determine navigation accuracy. The major limitation in dead reckoning comes from improper estimates of wheel radii. This can be compensated for with a calibration run, but the tire radius may still change due to dynamic conditions such as redistribution of vehicle weight during cornering, and inexact manufacturing of the tires themselves. Measurements of vehicle position through use of calibrated dead reckoning show accurate vehicle position to within a few cm along a 10 m path.<>
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