The Experimental Research On Stable And Rapid Cornering Technology Of Automatic Guided Vehicle

Automatic guided vehicle is a intelligent equipment,which is an important part of the manufacture factory for transportation in FMS.Duo to its high efficiency,flexibility,safety and low cost,it is widely used in the high-level manufacturing equipment industry such as the airport,dock,automobile manufacturing,large transfer centers and so on.In recent years,that improving the efficiency of transportation to reduce the social costs is major technical problem which come from different business,automatic guided vehicle is used as an important part of them.In order to solve technical problems in various aspects of AGV systems,researchers have conducted many in-depth researches.The research content of this paper mainly includes the modeling of the system of automatic guided vehicle,the constrained design of B-spline curve,the optimization and simulation of the AGV's acceleration strategy,and experimental research.In the modeling process of AGV,the path tracking model and the kinematics system model can be established because of the coupling relationship between the left and the right wheels.Based on the establishment of system model of AGV and Persuit control algorithm,the constraints of the B spline curve,the equation of forward viewing distance and the algorithm for determining the forward viewing point are deduced.the programs are edited by C language to complete the generation and simulation of the B-spline curve,while the UI interface is edited by Lab VIEW software to get the AGV's debugging system.In addition,the paper proposes a acceleration strategy which adopt the PSO algorithm as an optimization method to optimize the time of acceleration.As the result of the characteristics of the B-spline curve,the conversion point and new speed distribution are established to speed up the corning speed of the AGV.The Kalman algorithm is also introduced to fuse all kings of data to avoid random errors in each sensor during the measurement process,while fitting the map data can improve the positioning accuracy of the AGV.Based on the laboratory experiment platform of the AGV,lots of simulation and experiments are carried out in various situation to verify the performance of the suggested algorithms.Through the analysis of various data of sensors,the feasibility and stability of the B-spline curve are confirmed in path planning,which not only are the more fast,but also flexible.