Motion Control Of AVR-based Differential Drive Automated Guided Vehicle

With the popularity of factory automation and rapid development of modern logistics industry, the demand for material handling efficiency becomes very high. Factory or warehouse's material handling has gradually developed from manual handling to fully automated machine handling and automatically guided vehicles (AGV) is the key equipmenta of fully automated machine handling. Since AGV is generated, the technique of AGV becomes more and more advanced, and the applied field of AGV becomes more and more extensive, which has become the essential equipment of intelligent transportation. Currently, the domestic market of AGV is in great demand and varieties of characteristics of AGV appear endlessly, therefore, the study of technique of AGV is one of the hot topic in modern intelligent control field. The thesis studies AGV further according to enterprise's needs, which has important practical and theoretical significances.The research subject of this study is AGV. This thesis researches and designs the overall structure program and control program of AGV based on the analysis of AGV's domestic and foreign development status and prospect and the product demand of cooperation enterprises. The thesis makes a structuralized and modularized design of AGV, elaborately analyzes and proves key technique program of drive system, microprocessor control system, sensing system, motor control system, PC function module and serial communication module, and then each makes a hardware and software design for all subsystems and module. In addition, according to motion characteristics of AGV differential drive, the thesis uses fuzzy control algorithm to precisely control it, such that it will be better to track the path. The thesis manipulates C language environment to program and control AVR, uses Visual c++ to develop application programming under IPC WIN-CE system and adapts Matlab language to solve and simulate fuzzy control algorithm.In the end, this thesis tests the AGV prototype production that has already completed under the actual environment and discusses the problems that exist in the test.