Purpose

The purpose of this paper is to propose the situation that the existing parking automated guided vehicle (AGV) has a single walking mode, a spin forward motion mode based on a dual steering wheel driven parking AGV. In this way, the AGV can complete the 180° spin of the AGV in the process of straight forward.

Design/methodology/approach

A spin forward kinematics model of the dual steering wheel AGV is established, and a motion controller of the dual steering wheel AGV is designed based on the principle of model predictive control to complete the path following the spin forward motion mode.

Findings

Computer simulations and laboratory tests were performed on this movement mode, which showed that the operation mode was feasible. It also verified that the mode can improve the handling efficiency, and also solved the problem that the parking space beside the wall could not be set and the site utilization was improved.

Research limitations/implications

The controller should be further improved to make the operation smoother and more accurate.

Practical implications

This mode has the applicability to the indoor logistics AGVs. In addition, it can improve the handling efficiency and also solved the problem that the storage space for goods beside the wall could not be set and the site utilization was improved.

Social implications

This method can solve the problem due to the increasing number of private cars and parking spaces are hard to find. It increases the number of parking spaces and improves the utilization rate of the site. In addition, it also saves people the time to find a parking space and reduces car exhaust emissions in the process. It follows the requirements of sustainable development.

Originality/value

The studies in this paper provide AGV with more ideas on the issue of improving handling efficiency and site utilization and also solves the problem of being unable to set parking spaces when parking against the wall. In addition, this model has applicability to indoor logistics AGV and plays the same role.

中文翻译：

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基于双方向盘停车AGV的自旋式前进运动模式

目的

本文的目的是提出这样一种情况，即现有的停车自动导引车（AGV）具有单行走模式，基于双方向盘驱动的停车AGV的旋转运动模式。这样，AGV可以在直线前进的过程中完成AGV的180°旋转。

设计/方法/方法

建立了双方向盘AGV的自旋运动学模型，并基于模型预测控制的原理设计了双方向盘AGV的运动控制器，以完成遵循自旋运动模式的路径。

发现

在这种运动模式下进行了计算机仿真和实验室测试，表明该操作模式是可行的。还验证了该方式可以提高装卸效率，解决了墙旁不能设置停车位，提高了场地利用率的问题。

研究局限/意义

控制器应进一步改进，以使操作更平稳，更准确。

实际影响

该模式适用于室内物流AGV。另外，它可以提高装卸效率，还解决了墙旁不能设置商品存放空间，提高了场地利用率的问题。

社会影响

这种方法可以解决由于私家车数量增加而难以找到停车位的问题。它增加了停车位的数量并提高了场地的利用率。此外，它还节省了人们寻找停车位的时间，并减少了过程中的汽车尾气排放。它遵循可持续发展的要求。

创意/价值

本文的研究为AGV提供了有关提高装卸效率和场地利用率的更多思路，并解决了靠墙停车时无法设置停车位的问题。此外，该模型还适用于室内物流AGV，并具有相同的作用。