The invention provides a multi-constraint eccentric single-steering-wheel AGV automatic parking method based on a feasible initial domain. The method comprises the steps of vehicle body and obstacle modeling, boundary condition setting, automatic parking collision analysis, feasible initial domain determination, path generation and the like. According to the method, aiming at the characteristics of single steering wheel driving and unequal left and right steering radiuses of a vehicle body and the purpose of predicting future state quantity based on trajectory planning, a transfer vehicle segmented kinematics model is established. Due to the fact that the safe distance is set, the safety of the AGV in the driving process is guaranteed. And when the environment map is inaccurate or AGV control has errors, the AGV can also run safely.

    发明提供基于可行起始域的多约束偏心单舵轮AGV自动泊车方法。该方法包括进行车体和障碍物建模、设定边界条件、自动泊车碰撞分析、确定可行起始域和生成路径等步骤。该方法针对车体单舵轮驱动、左右转向半径不相等的特点,和基于轨迹规划预测未来状态量的目的,建立了转运车分段运动学模型。由于设置安全距离,保证AGV在行驶过程中的安全性。当环境地图不准确或AGV控制有误差时,AGV也能安全的行驶过程。


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    Title :

    Multi-constraint eccentric single-steering-wheel AGV automatic parking method based on feasible starting domain


    Additional title:

    基于可行起始域的多约束偏心单舵轮AGV自动泊车方法


    Contributors:
    WANG ZHENG'AN (author) / XIE XUEFENG (author) / TANG HAO (author) / CHOI HAK KYU (author) / MA JINGLEI (author) / ZHANG RIPING (author) / TUO KUI (author) / WU QUANWANG (author) / ZHANG RUI (author) / DU BIN (author) ... [more]

    Publication date :

    2025-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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