Research On Path Planning Of Automated Guided Vehicle Based On Workshop Measurement Positioning System And Fuzzy Control

According to the traditional AGV(Automated Guided Vehicle)navigation positioning and path planning method,it is limited by the problems of low positioning accuracy,poor stability and single path,which can not meet the requirements of modern warehousing logistics and high-end intelligent manufacturing for AGV navigation.In order to satisfy the urgent need of path planning technology for large-scale,high-precision,flexible autonomy,parallelism and stability,this thesis researched on an AGV path planning based on wMPS(workshop Measuring and Positioning System)and fuzzy control method.The method deploys an omnidirectional receiver on the AGV,obtains the three-dimensional coordinates of the omnidirectional receiver by using the wMPS measurement system,and obtains the real-time pose of the AGV in the workspace through the pose calculation algorithm,thereby determining and updating the input quantity of the fuzzy control algorithm.Adjusting the forward and rotation speed parameters of the AGV in real time by the fuzzy control algorithm,thereby completing the task of AGV planning trajectory tracking.This method combines wMPS with large measurement space,flexible layout,high precision,good stability,wide applicability of fuzzy control and good robustness.It can be well applied to the field of large parts docking and high precision assembly of aircrafts and ships.The path is flexible and variable,the tracking and positioning is precise,and the system runs stably.The paper studies the AGV path planning method based on wMPS and fuzzy control from two aspects of theoretical principle and implementation method,and completes the corresponding experimental verification.The main work of the thesis is as follows:1.This paper introduces and analyzes the current development status of AGV navigation & positioning technology and motion control methods,analyzes the defects of traditional navigation & positioning technology and control methods,also combines the advantages of wMPS and fuzzy control to study the AGV path planning combining wMPS and fuzzy control method.2.Designed the implementation of the path planning system.Expounded the composition and function of sub-unit AGV system,wMPS pose measurement system and host computer control system.The wMPS pose measurement system and the host computer control system transmit the real-time pose of AGV in the measurement field through UDP communication.The host computer control system will transmit the speed command of the AGV tracking planning path to the AGV system through serial communication.3.Derived the AGV pose calculation algorithm.The pose calculation algorithm mainly includes the wMPS coordinate measurement principle,the solution of the iterative initial value of the nonlinear optimization algorithm seeks the optimization of the rotational translation matrix R,T and algorithm of the AGV vehicle body coordinate system and the site coordinate system.4.Selected the fuzzy control algorithm as the pose adjustment algorithm of the AGV.Through many experiments,the input and output fuzzy subsets,membership functions,fuzzy rules and defuzzification methods of the fuzzy controller are determined,the forward and rotational speed parameters of the AGV are output in real time,so that the AGV can track the path planed with certain accuracy.5.The simulation model of fuzzy control algorithm is established by MATLAB,and three expected trajectories of straight line,polyline and curve are designed to verify the simulation.The performance and accuracy of the AGV path planning system based on wMPS and fuzzy control are experimentally verified from three aspects: repeated positioning experiment,simple path planning experiment and complex path planning experiment.