Affiliation:
1. Shanghai Aircraft Manufacturing Co., Ltd.,
2. Shanghai Jiao Tong University
Abstract
In order to solve the transportation problem in large aircraft components assembly process, an AGV posture synchronization system is built, which utilizes a two-dimensional laser range finder and adaptive control method. Two-dimensional laser range finder is located in the front of AGV to collect real-time point cloud of environment. After tracking AGV section point cloud, we extract straight lines and turning points using the RANSAC algorithm, and estimate the relative posture accordingly. Then adaptive controller processes the position information to achieve master-slave tracking for multi-AGV. In experiment we used three sets of identical AGV; the average distance error was less than 5mm while the angle error was limited within 0.3 °. The results verified the reliability and practicability of our system, which can meet the requirements for transporting large parts.
Publisher
Trans Tech Publications, Ltd.
Reference6 articles.
1. Kodagoda, K.R. S, Wijesoma, W. S, Teoh, E. K: Fuzzy speed and steering control of an AGV. Control Systems Technology, IEEE Transactions on. 2002, 10(1): 112-120.
2. A. El-Sawah, N.D. Georganas, E.M. Petriu: Calibration and Error Model Analysis of 3D Monocular Vision Model Based Hand Posture Estimation, Proc. IMTC/2006, IEEE Instrum. Meas. Technol. Conf., Warsaw, Poland, May 2007: 1-6.
3. Liang Jiahai: Research and Implementation of Visual Control Technology with Mult-i AGVs. Computer Measurement & Control. 2011, 19(9): 2164-2172.
4. Jeehoon Park, Jewon Lee, Youngsu Park: AGV parking system based on tracking landmark. Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, 2009: 340-343.
5. Martin F N, Celeste W C, Carelli R, et al: An adaptive dynamic controller for autonomous mobile robot trajectory tracking. Control Engineering Practice, 2008, 16: 1354-1363.