多agv系统的组合导航控制与调度方法研究机械电子工程专业论文.docxVIP

多AGV系统的组合导航控制与调度方法研究系统的效率和稳定性。此外，本文介绍了调度系统中的车问地图生成、无线信息传输和 多AGV系统的组合导航控制与调度方法研究 系统的效率和稳定性。此外，本文介绍了调度系统中的车问地图生成、无线信息传输和 AGV调度控制模块，并通过仿真模块对调度系统中相关功能进行了验证。 本文给出了多AGV系统组合导航定位问题和实时调度问题的求解方法，并且给出 了调度系统中组合导航硬件部分，路径优化算法以及软件部分调度相关功能实现的的关 键技术及系统原型。本文方法有助于解决生产车间内的多AGV调度问题，可望推广应 用于港口、机场、物流仓储等其他领域的多AGV调度问题求解。 关键词：多AGV系统：组合导航；惯性导航；互补滤波；路径规划；调度方法 万方数据 大连理工大学硕士学位论文Integrated 大连理工大学硕士学位论文 Integrated Navigation Control and Research on Scheduling Method for Multi·AGVS System Abstract AGV(Automated Guided Vehicle)is an important part of the flexible manufacturing industry and navigation control and scheduling method are the key technology of AGV design。 Integrated navigation system Can process a variety of data through the filter．The AGV scheduling system can plan the path under the constraint conditions efficiently．An excellent scheduling system can achieve accurate position，rapid response and timely process barriers， conflicts．In theory，this is a combinatorial optimization problem and more difficult to describe， optimize and calculate，compared with the general scheduling optimization problem．In engineering application，the method proposed in this paper can effectively solve the real time workshop scheduling problem and has important engineering application value． Supported by the National Natural Science Foundation，this paper studies the AGV integrated navigation and positioning technology and the real—time schedule method of multi-AGVs system．This paper studies the integrated navigation and positioning technology including inertial unit and magnetic navigation unit and the framework of solving static scheduling，real-time scheduling problem through the research of execution process about multi-AGVs system scheduling task． The main work of this paper is as follows： (1)Industrial controller based on LPC2388，a sensor MPU9255 and MS20-1 50 magnetic sensor regarded as the hardware design platform，this paper studies four key technology of AGV navigation：AGV attitude calculation，signal filte