Path Planning And Intelligent Control Of Logistics Terminal Equipment

Automated Guided Vehicles(AGV) plays a very important role in the intelligent logistics terminal system, and the intelligent level of the logistics terminal system is mainly reflected in the level of AGV. The paper sets AGV under the environment of logistics terminal storage system as the research background, put forward the path planning and intelligent control of logistics terminal equipment in view of low level of AGV application in the logistics warehousing business application. The main contents of this paper are as follows:(1) This paper proposes a grid method of storage environment, and use the A* algorithm to achieve the shortest path search. In order to meet the security and stability of AGV in storage environment, this paper proposes an improved A* algorithm, which can ensure that the AGV is more effective to avoid storage shelves.(2) For the logistics terminal system of the storage environment, this paper established a single wheel motion model of AGV. Through the analysis, this paper adopts laser navigation of AGV guidance to determine AGV in storage environment coordinates and azimuth angle. In order to meet the requirements of real-time, the CAN bus is used in the traveling controller, the angle controller and the industrial control computer, and the real-time feedback of the motor operating parameters of the AGV is also used.(3) For the AGV low efficiency and energy consumption characteristics, this paper presents a method for smoothing the path to search out the improved A* algorithm.In the case of AGV in storage environment, this paper establishes a AGV trajectory error model, and adopts fuzzy PID algorithm to control the position error and angle error. After simulation and experiment, the fuzzy PID algorithm can track the reference trajectory quickly, and the external interference has little effect, so the AGV can meet the safe and reliable operation in storage environment.(4) Based on the software design strategy, the paper puts forward the process of the software design. The software structure of this paper includes industrial control computer, map data, path data, task data, man-machine interface, AGV state monitoring, and AGV task monitoring. To facilitate the user to quickly solve the failure of AGV, the software design is also designed a set of error code, when the AGV fails, the user can quickly find the corresponding fault code.(5) In view of the complexity of path planning for multi AGV scheduling system, this paper proposed a path planning algorithm based on directed graph, the path planning algorithm based on directed graph through the one-way route regulations, completely avoid the problems to conflict between AGV, and greatly improve the stability of AGV scheduling system.