Improved Positioning Method for Magnetic Encoder Type AGV Using Extended Kalman Filter and Encoder Compensation Method
Improved Positioning Method for Magnetic Encoder Type AGV Using Extended Kalman Filter and Encoder Compensation Method
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DOI：
10.1007/s12555-016-0544-2
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发表时间：
2017-08-01
影响因子：
3.2
通讯作者：
Kim, Sungshin
中科院分区：
文献类型：
--
作者：
Cho, Hyunhak;Kim, Eun Kyeong;Kim, Sungshin
本文提出了一种改进的磁编码器型导引车定位方法，采用扩展卡尔曼滤波和编码器补偿方法。磁编码器系统是用于自主引导车辆的几种可用的引导系统之一，其使用在指定路径上以规则间隔（诸如地标、转弯点和工作场所附近）埋置的磁棒。该系统使用编码器或磁性定位装置这两种类型的装置中的任一种在预定义的路径上引导MEGV。编码器信息用于磁棒之间的位置范围内，并且磁性定位装置用于使用磁棒的全球定位来校正MEGV的定位。然而，由于误差（编码器的累积误差和一般磁场中的干扰），计算MEGV的精确位置具有挑战性。因此，本研究提出一种方法，这是一个组合的EKF和ECM，定位MEGV。在所提出的方法中，EKF首先估计MEGV的位置;然后，ECM校正编码器的误差。为了分析所提出的方法的性能，MEGV的设计和开发。所提出的方法进行了比较与其他三种定位方法（使用编码器，磁编码器，或EKF），并在类似的工作条件下进行实验。实验结果表明，该方法优于其他方法的上级。
This paper presents an improved positioning method for a Magnetic Encoder type Guided Vehicle (MEGV) using the Extended Kalman Filter and Encoder Compensation Method. The magnetic encoder system is one of several available guidance systems for autonomous guided vehicles using magnetic sticks that are buried at regular intervals (such as near landmarks, turning points, and work places) on designated paths. The system guides MEGVs on a pre-defined path using either of two types of devices: encoders or magnetic positioning devices. The encoder information is used in a range of positions between the magnetic sticks, and the magnetic positioning device is used to correct positioning of MEGV using global positioning of a magnetic stick. However, calculating the exact position of a MEGV is challenging because of errors (cumulative error of the encoder and disturbances in the general magnetic field). Therefore, this study proposes a method, which is a combination of EKF and ECM, for positioning MEGVs.' In the proposed method, EKF first estimates the position of the MEGV; then, ECM corrects the error of the encoders. To analyze the performance of the proposed method, a MEGV was designed and developed. The proposed method was compared with three other positioning methods (that use encoders, magnetic encoders, or EKF), and experiments were performed under similar working conditions. The experimental results demonstrated that the proposed method is superior to the other methods.