Path Planning Method of the AGV Navigated by IGPS in Aircraft Digital Assembly

JIANG Qian; ZHANG Yunzhi; ZHANG Shaoqing; PAN Qing

doi:10.16080/j.issn1671-833x.2016.22.072

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Path Planning Method of the AGV Navigated by IGPS in Aircraft Digital Assembly

更新时间：2025-10-30

- Path Planning Method of the AGV Navigated by IGPS in Aircraft Digital Assembly
- Aeronautical Manufacturing Technology Vol. 59, Issue 22, Pages: 72-77(2016)
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- DOI：10.16080/j.issn1671-833x.2016.22.072
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- Published：2016
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蒋　倩，张云志，张少擎，潘　青. 飞机数字化装配中IGPS导航的AGV路径规划方法[J]. 航空制造技术, 2016, 59(22): 72-77.

JIANG Qian1,2, ZHANG Yunzhi1,2, ZHANG Shaoqing1,2, PAN Qing1,2. Path Planning Method of the AGV Navigated by IGPS in Aircraft Digital Assembly. Aeronautical Manufacturing Technology, 2016, 59(22): 72-77.
蒋　倩，张云志，张少擎，潘　青. 飞机数字化装配中IGPS导航的AGV路径规划方法[J]. 航空制造技术, 2016, 59(22): 72-77. DOI： 10.16080/j.issn1671-833x.2016.22.072.

JIANG Qian1,2, ZHANG Yunzhi1,2, ZHANG Shaoqing1,2, PAN Qing1,2. Path Planning Method of the AGV Navigated by IGPS in Aircraft Digital Assembly. Aeronautical Manufacturing Technology, 2016, 59(22): 72-77. DOI： 10.16080/j.issn1671-833x.2016.22.072.

摘要

以机翼翼盒数字化装配为研究对象，介绍了飞机数字化装配系统研制中AGV 自主导航系统的构成，详细叙述了笔者自主研发的AGV 路径规划仿真软件，该软件可在全三维飞机装配虚拟环境中，通过IGPS 实时获得AGV在飞机装配现场的位姿，规划AGV 在飞机装配作业中的运动路线，并在虚拟装配环境中实现AGV 沿规划路径的碰撞干涉检查并加以消除，保证了AGV 自主导航的安全实现，解决了飞机数字化装配中IGPS 导航的AGV 路径规划难题。

Abstract

Taking assembly of aircraft wing box for research object

this article introduces the composing of the AGV autonomous navigation system and details the simulation software of AGV path planning. The pose of AGV in aircraft assembly site can be obtained through IGPS in 3D aaircraft assembly virtual environment. This software can plan the path of AGV and realize the athletics simulation of the AGV path planning. Simultaneously we check and remove interferences of collision in the aircraft assembly virtual environment

to ensure the safe implementation of AGV autonomous navigation

to solved the difficult problem of AGV path planning Navigated by IGPS in Aircraft digital assembly.

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