TANG Rui, YAN Wen jun

 

(College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China)

 

 

Abstract: Aiming at the steer driving AGV′s low accuracy of turning low turning speed and poor operating efficiency problems, many experimental studies of the car turning were carried out on a test prototype and the turning process of a steer driving AGV car was investigated. After the analysis of AGV′s curve trajectory speed and turning error, which were based on the car′s kinematic model, the relationship between the turning speed and turning error was established. According to the analysis a method of curve compensation combining with straight line navigation was established. The method was simulated in Matlab and the effectivoness of the method was verifred. Finally the method was carried out on the test prototype. The result shows that the turning speed has increased nearly 30 percent, at the same time the accuracy of turning is high. Therefore, the method is effective and feasible.

 

Key words: steer driving; automated guided vehicle(AGV); error analysis of turning curve; curve compensation in advance