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Acta Optica Sinica, Volume. 39, Issue 3, 0312003(2019)

Path Planning Control of Automated Guided Vehicle Based on Workshop Measurement Positioning System and Fuzzy Control

Yongjie Ren**, Xian Zhao*, Siyang Guo, Jinwang Wang, and Jun Deng
Author Affiliations
  • State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin 300072, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (16)
    Equations (0)
    References (0)
    Cited By (4)
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    Figures & Tables(16)
    Constitutions of AGV path planning system

    Fig. 1. Constitutions of AGV path planning system

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    Transmitter measurement principle

    Fig. 2. Transmitter measurement principle

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    Flow chart of AGV path planning

    Fig. 3. Flow chart of AGV path planning

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    AGV motion model

    Fig. 4. AGV motion model

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    Membership function of d

    Fig. 5. Membership function of d

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    Membership function of v

    Fig. 6. Membership function of v

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    Membership function of β

    Fig. 7. Membership function of β

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    Membership function of w

    Fig. 8. Membership function of w

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    Simulation trajectory

    Fig. 9. Simulation trajectory

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    Simulation deviation analysis

    Fig. 10. Simulation deviation analysis

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    Experimental environment and experimental device

    Fig. 11. Experimental environment and experimental device

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    Experimental trajectory

    Fig. 12. Experimental trajectory

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    Real-time deflection angle

    Fig. 13. Real-time deflection angle

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    Experimental trajectory for complex path

    Fig. 14. Experimental trajectory for complex path

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    • Table 1. Expected and actual value of first target point

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      Table 1. Expected and actual value of first target point

      Parameterx /mmy /mmθ /(°)
      Expected value2600.003500.00-96.9788
      Actual value2601.483498.33-97.4223
      Deflection1.48-1.67-0.4435

    • Table 2. Expected and actual value of second target point

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      Table 2. Expected and actual value of second target point

      Parameterx /mmy /mmθ /(°)
      Expected value2800.001245.00-174.838
      Actual value2801.621243.84-177.497
      Deflection1.62-1.16-2.659
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    Yongjie Ren, Xian Zhao, Siyang Guo, Jinwang Wang, Jun Deng. Path Planning Control of Automated Guided Vehicle Based on Workshop Measurement Positioning System and Fuzzy Control[J]. Acta Optica Sinica, 2019, 39(3): 0312003

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    Paper Information

    Category: Instrumentation, Measurement and Metrology

    Received: Jul. 16, 2018

    Accepted: Oct. 25, 2018

    Published Online: May. 10, 2019

    The Author Email:

    DOI:10.3788/AOS201939.0312003

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology