一种引导路径跟踪生成系统 基于多传感器数据融合地AGV车辆 跟踪.pdf

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1、IOPConferenceSeries:MaterialsScienceandEngineeringPAPER•OPENACCESSRelatedcontent-ExperimentalVerificationofaVehicleALeader-path-followingformationsystemforLocalizationbasedonMovingHorizonEstimationIntegratingLRSandOdometryAGVswithmulti-sensordatafusionbasedvehicleKuniyukiS

2、akaeta,KenichiroNonakaandKazumaSekiguchitracking-ControlandDiagnosisinIntegratedProductDevelopment-ObservationsduringtheDevelopmentofanAGVTocitethisarticle:WenYaoetal2017IOPConf.Ser.:Mater.Sci.Eng.235012006RStetterandASimundsson-Analysisofmulti-sensorinformationfusionandkn

3、owledgediscoveryincoalminegasmonitoringBiqingLi,SupingJiangandHongyanViewthearticleonlineforupdatesandenhancements.ZhangThiscontentwasdownloadedfromIPaddress117.165.43.154on14/09/2018at02:28CACRE2017IOPPublishingIOPConf.Series:MaterialsScienceandEngineering1234567890235(20

4、17)012006doi:10.1088/1757-899X/235/1/012006ALeader-path-followingFormationSystemforAGVswithMulti-sensorDataFusionBasedVehicleTracking1*1221WenYao,XijunZhao,YufengYu,YongkunFang,ChaoWangandTianfu1Yang1ChinaNorthVehicleResearchInstitute,Beijing,China2PekingUniversity,Beijing

5、,China*gphbl@aliyun.comAbstract.Caravanscomposedofvehicleswithdifferentfunctionalityortrafficabilityraisethedemandthatformationsystemstructureshallallowvehiclestodeviatefromthepathtobefollowedwhennecessary.Inthispaper,aformationsystemisdevelopedforautonomousgroundvehicles(

6、AGVs)whofollowthepathofaleadervehiclewhileretainingtheabilityofdeviationfromthereferencepath.Inaddition,itimprovesrobustnessofprecedingvehiclelocalizationbyfusingLidartracking,cameratrackingresultswithpredecessor’sglobalpositionwithinanextendedKalmanfilter(EKF)incasethaton

7、eormoresourcesofprecedingvehiclelocalizationisnotreliable.ThesystemisappliedonrealAGVplatformsandwontherd3placeinanAGVcompetitioninChina.1.IntroductionDuringthepastdecades,formationcontrolhasreceivedalotofattentionsinceitenablescoordinatedtraversalofroadsformulti-vehiclesy

8、stem.Techniquesfromadaptivecruisecontrol(ACC),coordinatedACC(C-ACC)toadvancedvehicleplato