| Laser navigation AGV is an automatic guided vehicle that uses a laser scanner as a positioning and navigation module,and it is one of the important equipments in logistics and transportation system.In terms of navigation methods,the laser navigation AGV is more accurate than other navigation methods.The non-trajectory feature makes the AGV driving more flexible and more automated than other types of AGV products.Therefore,it has a high practical value in industrial applications and has become an important direction of the development of AGV in the future.This paper takes the logistics automation project of a crankshaft manufacturing plant as the engineering background,based on the practical application of the project,the single wheel forklift that is more commonly used is selected as the body of AGV,and on the basis of this,the AGV control system for laser navigation is designed.We put emphasis on the design and study on the vehicle control system and path tracking algorithm,the main contents include:First of all,the design of AGV vehicle-mounted control system is completed.By briefly introducing the structure of the automated warehouse system,the functions and connections of various parts,the research direction is positioned on the AGV bottom control system.Through analyzing the design index of the vehicle system,the steering wheel drive unit is selected and the architecture of the AGV control system is established.This paper attempts to analyze the requirements of vehicle system,establish an AGV control system architecture,study the working mode and workflow of AGV,and analyze the peripheral equipment of the system.Secondly,the hardware design of vehicle control system is completed.Through in-depth study and analysis principle of the control system of AGV,the vehicle control system is divided into eight modules,including master controller module,navigation and positioning module,motion control module,transfer module,wireless communication module,etc.According to the functions of each module,the hardware of vehicle control system based on embedded controller is developed.Thirdly,the path tracking algorithm of AGV is studied and analyzed.Through the analysis of the principle of the automatic driving algorithm,combined with the nonholonomic constraint AGV car model and the motion law,AGV kinematics model is established.And improved pure tracking control algorithm is designed.By means of Matlab analysis tool,the feasibility of the algorithm is verified theoretically.Fourthly,the validity of the system and the path tracking algorithm is verified through the field experiment.The result of test data shows that the control algorithm is effective when the system has a large deviation,the system runs smoothly and the path tracking can be realized basically.. |
