基于交互式控制的AGV实时仿真系统研究

doi:10.16182/j.issn1004731x.joss.19-0586

系统仿真学报 ›› 2021, Vol. 33 ›› Issue (3): 657-668.doi: 10.16182/j.issn1004731x.joss.19-0586

• 仿真支撑平台/系统技术 • 上一篇下一篇

基于交互式控制的AGV实时仿真系统研究

熊俊涛¹, 李中行¹, 林国茂¹, 吴升伟¹, 林冬婷², 李洽锋², 肖文淳²

1.华南农业大学数学与信息学院,广东广州 510642;
2.华南农业大学电子工程学院,广东广州 510642

收稿日期:2019-11-11 修回日期:2020-04-13 出版日期:2021-03-18 发布日期:2021-03-18
作者简介:熊俊涛(1981-),男,博士,副教授,研究方向为农业机器人和智能设计与制造。E-mail：xiongjt2340@163.com
基金资助:
国家自然科学基金(32071912),广东省大学生科技创新培育专项资金(Pdjh2020a0082),广东省自然科学基金(2018A030313330),广州市科技计划(202002030423)

Research on AGV Simulation System Based on Interactive Control

Xiong Juntao¹, Li Zhonghang¹, Lin Guomao¹, Wu Shengwei¹, Lin Dongting², Li Qiafeng², Xiao Wenchun²

1. College of Mathematics and Informatics, South China Agricultural University, Guangzhou 510642, China;
2. College of Electronic engineering, South China Agricultural University, Guangzhou 510642, China

Received:2019-11-11 Revised:2020-04-13 Online:2021-03-18 Published:2021-03-18

摘要/Abstract

摘要： 针对中文AGV (automated guided vehicle)在实际作业过程中,可能出现无法全面实时监控,偏离任务轨迹等问题,设计一个基于交互式控制的AGV实时仿真系统。视觉系统引导小车本体进行作业,仿真系统根据小车本体行驶规则建立虚拟小车运动模型,通过获取并处理小车本体行驶状态数据,实时同步模拟小车本体的作业情况。纠正算法检测小车作业状态,并在其出现偏离任务轨迹时,进行远程同步纠正。通过实验验证了仿真系统及纠正算法的实时性与有效性,为同类AGV实时仿真系统设计提供技术支持。

关键词: 实时仿真系统, 轨迹纠正, 视觉导引, 同步模拟, 自动导引小车

Abstract: During the process of actual tasks, automated guided vehicle may have will meet some problems, such as incomplete real-time monitoring, off-track, etc. An AGV simulation system based on interactive control is designed. The visual system guides the operation of real AGV, and the simulation system establishes the virtual AGV motion model according to the driving rules of the real AGV. By obtaining and processing the driving data of the real AGV, the operation of the real AGV are simulated in real time .The algorithm of track correction detects the operation status and performs remote synchronous correction when the real AGV deviates from the task track. The experimental results show that the simulation system and the algorithm of track correction are real-time and effective and can provide technical support for other similar AGV simulation systems.

Key words: real-time simulation system, track correction, visual guidance, synchronized simulation, AGV

中图分类号:

TP391.9

熊俊涛, 李中行, 林国茂, 吴升伟, 林冬婷, 李洽锋, 肖文淳. 基于交互式控制的AGV实时仿真系统研究[J]. 系统仿真学报, 2021, 33(3): 657-668.

Xiong Juntao, Li Zhonghang, Lin Guomao, Wu Shengwei, Lin Dongting, Li Qiafeng, Xiao Wenchun. Research on AGV Simulation System Based on Interactive Control[J]. Journal of System Simulation, 2021, 33(3): 657-668.

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基于交互式控制的AGV实时仿真系统研究

Research on AGV Simulation System Based on Interactive Control

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