[1]林子洋,顿向明,韩学行,等.基于有限状态机的AGV轨迹模块化研究[J].机械与电子,2017,(08):62-66,71.[doi:1001-2257(2017)08-0062-05]
　LIN Ziyang,DUN Xiangming,HAN Xuexing,et al.Research on AGV Modular Path Planning Based on Finite-State Machine[J].Machinery & Electronics,2017,(08):62-66,71.[doi:1001-2257(2017)08-0062-05]
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基于有限状态机的AGV轨迹模块化研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年08期
页码:
62-66,71
栏目:
智能工程
出版日期:
2017-08-25

文章信息/Info

Title:
Research on AGV Modular Path Planning Based on Finite-State Machine
作者:
林子洋1; 顿向明1; 韩学行1; 山磊2; 高爱军2; 范俊3
(1.上海交通大学机械与动力工程学院,上海 200240; 2 宁波介量机器人技术有限公司,浙江 宁波 315500; 3 江苏泉工机器人科技有限公司,江苏 常州 213164)
Author(s):
LIN Ziyang1;  DUN Xiangming1;  HAN Xuexing;  SHAN Lei2;  GAO Aijun2;  FAN Jun3
(1.School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240,China; 2.Ningbo Vast Robot Technology Co., Ltd., Ningbo 315500,China; 3.Jiangsu Quangong Robot Technology Co., Ltd., Changzhou 213164,China)
关键词:
激光雷达;  AGV;  轨迹模块化;  有限状态机
Keywords:
laser radar;  AGV;  modular path planning;  finite state machine
分类号:
TP24
DOI:
1001-2257(2017)08-0062-05
文献标志码:
A
摘要:
将结构化环境的AGV轨迹模块化与有限状态机的思路对比发现, AGV轨迹模块化可以按照有限状态机的模型、转移规则简化设计,经模块化分析与算法推导,设计实现了基于有限状态机的AGV轨迹模块化。该方法将数据处理模块得到的特征信息与路线编辑模块得到的路线逻辑表对比分析,实现AGV轨迹模块化。最后通过实验详细介绍了轨迹模块化的操作流程和实验结果,验证了轨迹模块化的可行性、先进性。
Abstract:
By comparing the AGV modular path planning in the structured environment with the idea of finite-state machine, it is found that AGV modular path planning can be simplified and designed according to the mode and transition rules of finite-state machine. In this research, the AGV modular path planning based on finite-state machine was realized based on the modular analysis and the algorithm deduction. In addition, the feature information obtained from data processing module was compared with the logical route table obtained from route editing module. Finally, the operation procedure of the modular path planning experiment and the experimental result were introduced, and the feasibility and advancement of modular path planning was validated.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2017-04-29
基金项目：江苏省科技厅重点研发计划（BE2015057）；上海交通大学中央高校基本科研业务费资助（16JCHY03）
作者简介：林子洋(1993-)，男，福建龙岩人，硕士研究生，研究方向为特种机器人；顿向明(1972-)，男，上海人，副教授，博士，研究方向为特种机器人设计、智能机器人。
更新日期/Last Update: 2017-08-25