Abstract
In order to solve the transportation problem in large aircraft components assembly process, an AGV posture synchronization system is built, which utilizes a two-dimensional laser range finder and adaptive control method. Two-dimensional laser range finder is located in the front of AGV to collect real-time point cloud of environment. After tracking AGV section point cloud, we extract straight lines and turning points using the RANSAC algorithm, and estimate the relative posture accordingly. Then adaptive controller processes the position information to achieve master-slave tracking for multi-AGV. In experiment we used three sets of identical AGV; the average distance error was less than 5mm while the angle error was limited within 0.3 °. The results verified the reliability and practicability of our system, which can meet the requirements for transporting large parts.
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