| 引用本文: | 潘孟春,任永益,毛声镛.激光导向车 (LGV) 的实时姿态检测及控制.[J].国防科技大学学报,1994,16(2):34-37.[点击复制] |
| Pan Mengchun,Ren Yongyi,Mao Shengyong.The Real-time Detection of Pose and Control of Laser Guiding Vehicle (LGV)[J].Journal of National University of Defense Technology,1994,16(2):34-37[点击复制] |
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| 激光导向车 (LGV) 的实时姿态检测及控制 |
| 潘孟春, 任永益, 毛声镛 |
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(国防科技大学 机械电子工程与仪器系 湖南 长沙 410073)
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| 摘要: |
| 提出了一种通过实时检测激光导向车的姿态来控制其行驶的方法，该方法的基本原理是依据激光接收阵的信息先推导出车的瞬间姿态(以角度偏差 α 和距离偏差D表征)，然后对两驱动轮的速度进行控制；在新的模型车上的实验结果表明，这种方法明显提高了车的运行精度，可望用于实际的 LGV。 |
| 关键词: 自动导向车 机电控制 柔性制造系统 自动化 |
| DOI： |
| 投稿日期：1993-08-21 |
| 基金项目: |
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| The Real-time Detection of Pose and Control of Laser Guiding Vehicle (LGV) |
| Pan Mengchun, Ren Yongyi, Mao Shengyong |
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(The Department of Mechantronics and Instrumentation，NUDT，Changsha，410073)
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| Abstract: |
| A method of controlling LGV through real time pose detection is proposed in this paper. That is to deduce first LGV's instant pose (indicated by angle deviation α and distance deviation D) from the information from the laser receiver，then control the two driving wheels' speed. The experiment results in new prototype indicate that the above method improves LGV's travel precision obviously，and is expected to be used in real LGV. |
| Keywords: automatic guided vehicle mechatronical control flexible manufacturing system automation |
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