(4) The AGV prototype is made and verified by experiments. The prototype is built, and the experimental site is designed. Then the AGV performance experimental analysis is carried out, and the path planning experiment and trajectory tracking comparison experiment are carried out respectively. The results of path planning show that AGV can successfully plan an optimal path, and then the trajectory tracking experiment is carried out. In the linear trajectory, the maximum error of AGV in the motion process is 21.97mm. The cumulative average error of curve trajectory tracking is 13.27mm. Experiments show that the laser navigation AGV and the key technical scheme designed in this paper are feasible and reliable. Finally, orthogonal experiments are carried out to analyze the comprehensive operation performance of AGV.
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