Research On Omni-Directional AGV Motion Control And Path Planning

Omni-directional AGV is an emerging logistics equipment,has broad market prospects,that can move freely in all directions,has no dead space in the movement process.Research on omni-directional AGV has a high application value,can give full play to its kinematics advantages and improve the intelligence level of logistics.Based on mobile robot technology,the paper studies motion control and path planning of the omni-directional AGV by using hardware and software such as motor control,wireless positioning,wireless communication,3D robot simulation,and MATLAB.Firstly,the control system scheme was established.The system architecture of computer+ DSP was adopted and the communication method was defined,the hardware components such as motor and drive,positioning and navigation,power supply system and communication system were designed.Secondly,due to the high-precision requirements of motion for omni-directional AGV,the kinematics modeling of omni-directional AGV was carried out,and the pose change process was discretized.The pose controller based on single neuron PID algorithm was designed,and simulation analysis of position tracking,linear path tracking and attitude angle control was performed by using V-REP.Then,for the problem that the global environment information existing in static path planning was difficult to obtain,a global dynamic path planning strategy combining rolling window method and artificial fish swarm algorithm was proposed.The path planning step was designed,and based on Euclidean distance,the risk path penalty function was introduced to improve the fitness function of the artificial fish swarm algorithm.The simulation results show that the improved omni-directional AGV could effectively avoid obstacles,the safety of the path was improved,and the average distance from the obstacle increased 21.98%,the risk of collision was reduced.Finally,the test prototype was built according to the design scheme,and the upper computer software and the lower computer software was designed.The motion control and path planning test of the omni-directional AGV was completed.The test results were consistent with the simulation results,which proved the feasibility of the scheme and the effectiveness of the algorithm.The research results of this paper could provide theoretical reference and design guidance for the development and design of omnidirectional AGV or similar projects,and have certain promotion value.