Research And Application Of AGV Path Conflict Processing Based On Laser Navigation

With the development of unmanned driving technology,AGV(Automated Guided Vehicle)products based on unmanned driving technology is becoming more and more mature.In order to better adapt to the needs of intelligent manufacturing,enterprises are no longer satisfied with manual control or traditional patrol.the requirements for its autonomy have also become higher and higher.In AGV products,navigation is its key function and an important manifestation of its intelligent operation.Therefore,it is of great significance and value to carry out navigation-related research on AGV.This article first introduces the current research status of AGV navigation and path planning at home and abroad.Then carries out the research on the path conflict processing of the AGV based on lidar navigation.The path conflict processing research is carried out from two aspects,AGV global path planning and local path planning.Finally,the autonomous navigation of the AGV conflict-free path is realized.The research content of this paper is mainly divided into the following five parts:(1)Analyzes the AGV overall system model,combines with the odometer to calculate its driving track,and analyzes the AGV lidar model.(2)Analyzes and deduces the underlying system theory of commonly used AGV mapping algorithms,summarizes the map types in the SLAM algorithm,establishes the AGV map model by comparing and using the occupancy grid map,and conducts a detailed theoretical analysis on it.(3)For the global path planning algorithm,firstly,the algorithm structure and principle of the commonly used A* algorithm are studied,and the problems in the actual application of the algorithm in the AGV are proposed.Then through research and comparison,the PRM algorithm is used to solve the AGV's global path planning and path conflicts.The A* algorithm is used in the search stage of the PRM algorithm.On the one hand,it inherits the advantages of the A* algorithm;on the other hand,the problems raised by the A* algorithm has been solved.At this time,through the conflict analysis and comparison of the paths planned by the PRM algorithm and the A* algorithm,it shows the advantages of the PRM algorithm for planning the global path.(4)For the local path planning,the traditional dynamic window method is analyzed first,and the detailed theoretical research is carried out.the speed selection is analyzed through two examples.Then the artificial potential field algorithm is integrated into the speed evaluation function of the dynamic window algorithm,to form an improved dynamic window algorithm.The comparison is made through the same example analysis,the speed trajectory simulation of static obstacles,dynamic obstacles and the handling of path conflicts,prove that the speed selection of the improved dynamic window algorithm is more reasonable.(5)Carries out ROS simulation experiment and AGV real environment experimental research.In the two navigation tests,the AGV can successfully achieve autonomous navigation.Whether it is in a known environment or adding unknown obstacles to the environment,the AGV can have no conflicting behavior and safely reached the set target point,which verifies the effectiveness of the algorithm.