Smooth path generation for AGV based on symmetrical fourth-order curve

doi:10.16731/j.cnki.1671-3133.2017.05.008

Modern Manufacturing Engineering ›› 2017, Vol. 440 ›› Issue (5): 38-43.doi: 10.16731/j.cnki.1671-3133.2017.05.008

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Smooth path generation for AGV based on symmetrical fourth-order curve

Xia Jiqiang, Wang Hui, Chen Ke, Liu Kan

School of Mechanical Engineering & Automation,Beihang University,Beijing 100191,China

Received:2015-08-12 Online:2017-05-20 Published:2018-01-08

Abstract

Abstract: Smooth path generation for Automated Guided Vehicle (AGV),which provides a smooth path for AGV moving,is the basic process of AGVs.Based on the concept of easement curve,use symmetrical fourth-order curve to solve the problem of smooth path generation.Taking differential AGV for example,we also analyze the maximum speed and the mechanical properties of AGV on the curve.The results show this algorithm helps to improve the AGV’s flexibility.

Key words: AGV, mobile robots, smooth path generation, easement curve, symmetrical fourth-order curve

CLC Number:

TP24

Xia Jiqiang, Wang Hui, Chen Ke, Liu Kan. Smooth path generation for AGV based on symmetrical fourth-order curve[J]. Modern Manufacturing Engineering, 2017, 440(5): 38-43.

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Smooth path generation for AGV based on symmetrical fourth-order curve

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