Visual-oriented Intelligent Agv Control System And The Fuzzy Controller Design

With the rapid development of the automation technology and information technology, as the connection and regulation of discrete logistics system and after development of decades, the Automated Guided Vehicle (AGV), have become the major equipments for the automated handling systems, the logistics and warehousing systems, the flexible manufacturing systems (FMS), and the flexible assembly system (FAS). An AGV System integrates the sensors, signal processing technology, computer technology, control theory, communications technology, mechanical design and other disciplines. It has many advantages, such as the flexible uses, the efficient transportation, reliable work, and so on.How to run under the eristing laboratory conditions, and to design a vision-based AGV (V-AGV) control system of a smaller tracking error, fast dynamic response, adapting to a variety of complex environments, and good robust, which is not only for experimental study, but also for practical application, is of the positive and realistic significances.In this paper, there is a detailed consulting to a large number of domestic and foreign research achievements, based on an overview of domestic and foreign control of AGV and its technological development. It systematically introduced the history and current status and the characteristics of the AGV, AGV system technology type and composition, and the key technology to be further clarification. Through deeply understanding their right-oriented vision-based AGV main structure and working principle, a V-AGV control system has been designed based on the laboratory conditions of experiments, using personal computer control and wireless communications.This paper studied the fuzzy controller and fuzzy PID controller for the path tracking control of AGV, selecting the bias and angle of deviation from the controller as two inputs, and the car wheel rotation time as the output, and designing a dual-inputs and single-output fuzzy controller. Simulation and experiments results show that the proposal controller can track the path AGV more quickly, smoothly correcting. But there is a problem that the control method is more single, and more complex movements and more high-precision-oriented issues can not be achieved.