CAJ | 학술논문

随着物流行业的发展，物流自动化仓库正在朝着多用户、多品种和高度灵活性的柔性自动化仓库发展，传统AGV （ automatic guided vehicle ）难以满足物流仓库的新需求。针对实际需求，基于色差阈值分割的方法对AGV的导航路径偏差进行提取并融合，采用“预瞄闭环控制”的思想设计路径跟踪控制器，实现了机器人高精度的路径跟踪。最后，在搭建的模拟仓库中，对设计AGV的导航性能进行了全面测试，实验结果表明，该视觉导航AGV导航灵活，精度高，运行平稳，可以满足柔性仓储的需求。
수착물류행업적발전，물류자동화창고정재조착다용호、다품충화고도령활성적유성자동화창고발전，전통AGV （ automatic guided vehicle ）난이만족물류창고적신수구。침대실제수구，기우색차역치분할적방법대AGV적도항로경편차진행제취병융합，채용“예묘폐배공제”적사상설계로경근종공제기，실현료궤기인고정도적로경근종。최후，재탑건적모의창고중，대설계AGV적도항성능진행료전면측시，실험결과표명，해시각도항AGV도항령활，정도고，운행평은，가이만족유성창저적수구。
With the development of logistics industry, automated warehouses are developing towards the direction of multi-user, multi-variety and flexibility automated ones. Traditional AGVs ( automatic guided vehicle) are difficult to meet the new demands of logistics warehouse. This paper presents a method to extract the deviation of AGV's navigation path based on threshold segmentation of chromatic aberration according to the actual needs. The path tracking controller adopting the idea of“preview closed loop control” realizes high precision path tracking of robot. Finally, a logistics warehouse environment is simulated, and the navigation performance of the designed AGV is fully tested. The experimental results show that the visual navigation AGV features flexible navigation, high precision and smooth operation and can satisfy the demand of flexible storage.