Research On Composite Navigation AGV And Path Tracking Control Method

Under the background of "made in China 2025" launched by China,industrial automation and intellectualization usher in unprecedented development opportunities.As an important flexible automatic assembly and handling equipment,AGV has attracted the attention of various industries.AGV plays an important role in promoting the development of intelligent factory,intelligent manufacturing,intelligent logistics and industry 4.0.As the basic assembly and material handling equipment of the factory,wheeled AGV can complete assembly and material handling tasks efficiently,accurately and flexibly.AGV can work together with worktable equipment such as manipulator to improve the work efficiency and product quality of the whole assembly line.In addition,multiple wheeled AGVs can form a flexible logistics handling system,and the handling route can be adjusted in time with the adjustment of the production process,so that a variety of products can be produced on a production line,which plays an important role in supporting the improvement of the flexibility of the production line.The navigation and positioning accuracy,path flexible configuration performance and path tracking and control accuracy of AGV are the core technologies in the research field of AGV,and also the difficulties in the promotion and application of AGV in many industrial fields.In order to promote the development of AGV technology and promote the application of AGV in more industrial fields,based on the two-dimensional code navigation technology and inertial navigation technology,this paper developed a kind of high precision and high flexibility composite navigation positioning technology with strong adaptability to the environment.The AGV path tracking control method with high precision and high stability is designed for the composite navigation technology.In this paper,the complex navigation positioning method and the path tracking control method are tested in real vehicle.Test results show that the design method is studied in this paper based on the technique of composite navigation AGV in the speed of 0.8 m/s condition,can achieve 5 mm positioning accuracy and 1 Angle error,and driving path dynamically configure,meet future intelligent manufacturing high speed,high precision and flexible paths of AGV configuration requirements,in order to further promote the implementation of intelligent manufacturing factory provides important technical support and equipment.