The invention discloses a steering control method, device and equipment and a storage medium. The method comprises the steps: obtaining AGV steering wheel speed information and AGV current pose information; when target steering information is obtained, determining an AGV steering wheel steering angle according to the AGV steering wheel speed information, the AGV current pose information and the target steering information; and controlling AGV steering according to the AGV steering wheel steering angle. By means of the technical scheme, the problems that due to a series of actions that an existing AGV needs to be stopped firstly, a steering wheel rotating motor rotates by 90 degrees, a steering wheel walking motor works, then, stop achieves when the target angle is reached, and a steering wheel returns to zero and the like, the steering action is tedious, and consumed time is long can be solved, the AGV does not need to be stopped in the turning process, the turning action is simplified, the turning coherence and stability of the AGV are enhanced, and the turning efficiency is improved.

    本发明公开了一种转向控制方法、装置、设备及存储介质。该方法包括:获取AGV舵轮速度信息和AGV当前位姿信息;在获取到目标转向信息时,根据所述AGV舵轮速度信息、所述AGV当前位姿信息和所述目标转向信息确定AGV舵轮转向角度;根据所述AGV舵轮转向角度控制AGV转向。通过本发明的技术方案,能够解决现有AGV需要经过先停止,舵轮旋转电机转90°,舵轮行走电机工作,到达目标角度停止,舵轮回零等一系列动作,转向动作繁琐、耗时长的问题,能够实现AGV在转弯过程中无需停车,简化转弯动作,增强AGV的转弯连贯性和稳定性,提高转弯效率。


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    Title :

    Steering control method, device and equipment and storage medium


    Additional title:

    一种转向控制方法、装置、设备及存储介质


    Contributors:
    SHA XUEDONG (author) / XIE YONG (author) / HE SONG (author) / SHI TAIPING (author) / ZHANG XIAOTIAN (author)

    Publication date :

    2021-03-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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