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利用13个磁阻传感器，形成了用于检测磁钉磁场的磁尺。
A magnetic ruler including 13 magnetoresistive sensors is made to measure magnetic field of the magnetic marker.
车间环境障碍使得磁钉的绝对位置难以精确测量，给AGV的实际应用调试带来不便。
It is difficult to get the absolute position of magnets because of obstacle in job-shop and this often causes trouble in debugging AGV.
采用Q学习方法进行磁钉路径的智能规划，实现最短路径寻找，同时解决了任务调度及避障等问题。
Q learning method is used in intelligence planning path with magnets to achieve the shortest path search, obstacle avoidance, task scheduling and so on.
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