Path Planning And Tracking Control Of Tread Semi-Product Automatic Handing AGV

AGV,or "automatic guidance mobile vehicle",is a kind of unmanned transport vehicle that can drive along the desired guidance path on the ground,and has safety protection,and can autonomously avoid obstacles to drive to each designated target location.In recent years,along with the computer technology,information technology,automation technology unceasing development and progress,AGV technology has entered a new phase,is becoming more and more intelligent,thus to improve the flexibility and automation of traditional manufacturing industry and logistics industry is beneficial,transport efficiency,to enhance the production efficiency,is widely used in various industrial production,storage and transportation in the scene.Abroad in the past two years are growing about " Industrial 4.0",our country also put forward the "made in China 2025" development planning,has been clear about the intelligence,automation,information technology is the development direction of future industry in China,so set a variety of advanced technology of AGV is currently a hot research direction,the country's economic and technological development has certain positive meaning.The company as a large rubber products manufacturing enterprises,the natural response to national policy,keep up with the world advanced technology trend,decided to anji branch tire factory production area,plan on "tread semi-product automatic handling AGV" project,in order to improve the tire factory production site tread semi-product logistics handling efficiency and automation level.This paper aimed at the "tread semi-product automatic handling AGV project" the research content mainly includes the following three aspects: AGV car body structure model and kinematics analysis,AGV path planning,AGV trajectory tracking control.First of all,through the analysis of the current common forms of AGV appearance structure,according to the tyre manufacturers to tread the semi-product handling actual requirements,this paper chose the flat load type,after two rounds of differential drive in the form of three rounds of AGV as the company's future AGV car body structure model,and then establish AGV global coordinate system and the local coordinate system,and on this basis of AGV kinematics modeling.Then,the path planning of AGV is studied.By comparing the advantages and disadvantages of AGV global path planning and local path planning,according to the company the actual situation of tread handling the existing obstacles to choose AGV path planning based on fuzzy logic control technology,the AGV in tire obstacles encountered in the processing area and tire area of different situation to handle classification,AGV positioning and obstacle avoidance principle is used to determine the various input and output variables,the membership functions of each variable and fuzzy language rule base,then the output variable fuzzy reasoning and fuzzy processing,and using the MATLAB software simulation analysis was carried out on the path planning system,Verify the feasibility of the path planning method.Finally,the trajectory tracking control of AGV is studied.Based on AGV trajectory tracking system and path planning technology consistency considerations,chose the AGV trajectory tracking control based on fuzzy logic control technology,and to determine the trajectory tracking of input and output variables of the fuzzy controller,the membership functions of each variable and fuzzy control rule base,and then on the basis of fuzzy reasoning and the output variables to fuzzy processing.At last,MATLAB software is used to simulate and analyze the trajectory tracking control algorithm,which proves the feasibility of the tracking control algorithm.