B-SPLINE CURVE-BASED AGV MOVEMENT CONTROL METHOD

WIPO Patent Application WO/2020/094056

A1

A B-spline curve-based AGV movement control method, comprising the following steps: (1) planning, according to actual requirements, stop stations by which an AGV necessarily passes; (2) performing reverse solution by means of the stop stations to obtain control points; (3) performing calculation by means of the control points to obtain a B-spline parametric equation, the B-spline being a third-order B-spline; (4) representing a travel route of the AGV by using the B-spline parametric equation; (5) performing parameter update by using an adaptive parameter update algorithm to obtain reference points that change in real time; (6) obtaining position and orientation errors in combination with errors in the actual position and orientation of the AGV and a desired position and orientation; (7) in consideration of actual rotational inertia of the AGV, adjusting a vehicle speed v according to the curvature of the travel route of the AGV, and adjusting an angular speed ω according to the speed of the AGV; and (8) eliminating the position and orientation errors by using a PID control method, and controlling the AGV to move according to a desired route.

LIU SHENGMING (CN)
SI XIUFEN (CN)
ZHEN WUBIN (CN)
ZHENG GUOMIN (CN)

PCT/CN2019/115984

May 14, 2020

November 06, 2019

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SUZHOU AGV ROBOT CO LTD (CN)

G01C21/00

CN108640040A	2018-10-12
CN101472782A	2009-07-01
CN108415413A	2018-08-17
US20080208454A1	2008-08-28
US20170285643A1	2017-10-05
US20110231057A1	2011-09-22

BEYOND ATTORNEYS AT LAW (CN)

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