| 基于多传感器融合的跟随AGV复合导引技术 |
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| 引用本文： | 钱晓明,黄宇轩,楼佩煌,孙天.基于多传感器融合的跟随AGV复合导引技术[J].农业机械学报,2022,53(1):14-22，32. |
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| 作者姓名： | 钱晓明 黄宇轩 楼佩煌 孙天 |
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| 作者单位： | 南京航空航天大学机电学院,南京210016 |
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| 基金项目： | 国家自然科学基金项目（61973154） |
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| 摘 要： | 在"主从式"AGV协同作业中,跟随AGV的定位和导引,除了获取环境信息,还需要观测领航AGV的位姿进行路径跟随,对精度和稳定性有更高的要求。为了提高跟随AGV的导航精度,提出一种惯性导航与多目视觉结合的组合导航方法。针对多传感器的数据融合问题,提出一种基于自适应无迹卡尔曼滤波的跟随AGV最优位姿估计方法。惯导传感器输出信号用于跟随AGV的状态预测;路径跟踪导航与RGB-D视觉导航组成多目视觉导航,作为系统观测修正惯导的累积误差。实验表明,本文提出的复合导引方案具有更快的偏差收敛速度、更稳定的路径跟踪状态和队形保持,提高了双车协同搬运系统的实时性和鲁棒性。
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| 关 键 词： | 多AGV协同 复合导引 多传感器融合 卡尔曼滤波 |
| 收稿时间： | 2021/1/19 0:00:00 |
Navigation Technology of Following AGV Based on Multi-sensor Fusion |
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| QIAN Xiaoming,HUANG Yuxuan,LOU Peihuang,SUN Tian.Navigation Technology of Following AGV Based on Multi-sensor Fusion[J].Transactions of the Chinese Society of Agricultural Machinery,2022,53(1):14-22，32. |
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| Authors: | QIAN Xiaoming HUANG Yuxuan LOU Peihuang SUN Tian |
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| Institution: | Navigation Technology of Following AGV Based on Multi-sensor Fusion |
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| Abstract: | In the current Leader-Follower AGVs cooperative operation, in addition to obtaining environmental information, the positioning and navigation of the following AGV also need to observe the position and attitude of the leading AGV for path tracking, which has higher requirements for accuracy and stability of navigation and location. In order to improve the navigation accuracy of following AGV, an integrated navigation method combining inertial navigation and multi-vision was proposed. Aiming at the problem of multi-sensor data fusion, an optimal pose estimation method based on adaptive unscented Kalman filter was proposed. The output signal of inertial navigation sensor was used to follow the AGV attitude prediction;the path tracking navigation and RGB-D navigation constituted the multi-vision navigation, which was used as the system observation to correct the accumulated offset of inertial navigation. The experimental results showed that the compound navigation scheme had faster convergence speed, more stable path tracking state and formation maintenance.This method improved the real-time performance and robustness of the two AGVs cooperative handling system. |
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| Keywords: | multi-AGV coordinated compound navigation multi-sensor fusion Kalman filter |
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