文献类型：期刊文献

中文题名：建材搬运车的自动平行泊车轨迹研究

英文题名：On Automatic Parallel Parking Trajectory of Building Materials Carrier

作者：刘宇[1];石松泉[2]

机构：[1]绍兴文理学院土木工程学院,浙江绍兴312000;[2]绍兴文理学院机械与电气工程学院,浙江绍兴312000

年份：2021

卷号：41

期号：10

起止页码：62

中文期刊名：绍兴文理学院学报

外文期刊名：Journal of Shaoxing University

收录：国家哲学社会科学学术期刊数据库

语种：中文

中文关键词：阿克曼模型;路径规划;两段圆弧;自动泊车

外文关键词：Ackerman model;path planning;two arcs;automatic parking

中文摘要：以建材运输为作业背景,研究建材AGV小车在自动平行泊车时的路径规划问题,提出基于两段圆弧的最短泊车路径.首先建立阿克曼车辆转向模型,计算出最短转弯半径,再根据车辆上的传感器对停车位进行建模,计算出它们相对于车辆的位置.在约束条件下,以最小转弯半径和第二段轨迹沿着停车位最左上方为条件得出车辆的泊车轨迹,最后通过matlab仿真来验证泊车过程路径.

外文摘要：Taking the building materials transportation on the construction site as the operation background,the path planning problem of AGV car in automatic parallel parking is studied,and the shortest parking path based on two arcs is proposed.Firstly,the Ackermann vehicle steering model was established,and the shortest turning radius was calculated.Then,the parking spaces were modeled according to the sensors on the vehicle,and their positions relative to the vehicle were calculated.Under the constraint conditions,the minimum turning radius and the second track along the top left of the parking space were taken as the conditions to get the parking trajectory of the vehicle.Finally,the parking process path was verified by the MATLAB simulation.