Research On Laser Guidance Technology For Storage Forklift

In recent years,with the rapid development of logistics industry,laser guided forklift is more and more favored by many enterprises because of its high intelligence and flexibility.Compared with the traditional manual driving operation,the automatic guided forklift can save labour and improve the transportation efficiency.Moreover the laser guidance method has high flexibility,which breaks through the disadvantages that the fixed path guidance method cannot change the track and needs to lay the guide rail.Regards a laser guided forklift as the research object and inveatigates the key issues of laser guidance.Based on the laser guided forklift motion standard coordinate system,the dynamic analysis of the lateral and transverse motion of the vehicle is carried out according to the second law of Newton,and the two degrees of freedom vehicle model is set up.The forklift kinematics model is established based on the forklift's motion characteristics.In addition,the forklift path planning problem is introduced,as well as the navigation process of laser guided forklift is expounded.Then three aspects of laser positioning,obstacle avoidance planning and path tracking are discussed in detail.Firstly,the composition and positioning principle of the laser positioning system are introduced,and the specifications,layout principles and matching methods of the reflectors are briefly described.The three edge positioning geometric algorithm is analyzed,which proves the method has good positioning effect when the forklift is driving straight and curved.Secondly,using fuzzy control algorithm to design the obstacle avoidance planning controller,according to the movement of the vehicle to select the appropriate input and output,comprehensively consider the obstacle avoidance movement and the direction of the target point to establish the corresponding fuzzy rules.The simulation proves that the controller can avoid the obstacles successfully.Finally,the particle swarm optimization algorithm is used utilized to optimize the parameters of the PID controller,and the fitness function is established based on the integral time absolute error criterion.In order to avoid the precocious phenomenon in the particle search process,the linear decrement inertia weight method is used to improve the particle search ability.Simulation results show that the linear decrement inertia weight method can effectively improve the particle search speed,and the PID controller optimized by the particle swarm optimization algorithm can effectively reduce the forklift travel deviation and has better control performance.