Research On Navigation Method And Navigation System Of Automatic Guided Vehicle Based On Ultra WideBand

With the development of industrial technology, automated guided vehicle (AGV) has been widely used in a variety of workplace with a high level of automation. Navigation technology is one of the key technologies of AGV, and the traditonal AGV navigation has drawbacks like high requirements for route setting, poor flexibility and the difficulties in dealing with complex working scenes. This paper proposes an automatic navigation method based on ultra wideband positioning, and together with the navigation system of the AGV. The main work of this paper is as follows:(1) The principle and implementation of wireless location technology are analyzed and the nonsynchronous distance measurement using ultra wide band technology is studied. Combined with the three edge location algorithm and the three side centroid localization algorithm, the realization method of spatial location of AGV is discussed. And the corresponding compensation and optimization methods are proposed for the possible errors in the positioning process. Which provides a foundation for AGV navigation.(2) By comparing the advantages and disadvantages of different modeling methods, the grid map method is selected to construct the environment model to improve the efficiency of modeling. Based on that, an AGV path planning method based on ant colony algorithm is proposed. And aiming at the shortage of the speed and the stability, the algorithm is optimized by using the elitist ant colony system.(3) With the Cortex-M4 processing chip and UWB positioning module as the hardware core, and μC/OS-Ⅱ embedded realtime operating system used as the system architecture, the vehicle navigation control system is designed and the protocols between the processor and the main modules are established. Then AGV automomous positioning and navigation, wireless communication, motion control and other functions are realized.(4) According to the requirements of navigation control, AGV command and control system is developed, and modules such as login, network management, AGV control, path planning, tasks scheduling and data management are designed to realize the function of AGV network monitoring, task arrangement, human-computer interaction and so on.The function of AGV positioning and navigation is tested and verified under static and dynamic scenes. The results show that, the proposed ultra-wideband-based navigation method can well achieve indoor AGV guidance function within a certain error range. The error range of the navigation path is less than 0.5m, which can basically meet the design requirements. At the same time, the developed control system is perfect in functions and easy to use.It has a certain reference value for the navigation design of AGV or other mobile robots.