Research Of Navigation-positioning And Trajectory-tracking Technology On AGV For Transporting Aircraft Among Assembly Stations

In the process of aircraft assembly,due to the shortcomings of low production efficiency and high production costs,traditional aircraft component transportation methods have been unable to meet people’s needs for aircraft production.Therefore,the support of AGV technology is indispensable in the modern aircraft manufacturing and assembly process.In order to meet the urgent needs of highly automated transportation equipment for large aircraft components during aircraft assembly,this paper studies the navigation-positioning and trajectory-tracking technology based on the AGV for transporting aircraft among assembly stations jointly developed by the laboratory and the aircraft manufacturing company.And this paper also provides a feasible solution to the design of the wheel structure,navigation and positioning method,trajectory tracking controller and motion control system.Firstly,this paper introduces the background of the research,and explains the development of AGV navigation-positioning and trajectory–tracking technology and the current status of AGV technology.It elaborates that the AGV technology is of great significance for the development of Chinese aviation industry and the improvement of Chinese comprehensive national strength.So far it leads to the contents of this paper.Secondly,the composition of the AGV for transporting aircraft among assembly stations is briefly introduced,and the three-wheel model,four-wheel model and six-wheel model were proposed for the system based on the design requirements of omnidirectional movement.The kinematics analysis and research of the system structure finally determined the six-wheel model equipped with two driving steering wheels and four supporting steering wheels for the AGV system.Then,the AGV’s navigation and positioning technology is researched,and an automatic navigation method for visual navigation is determined for the AGV.The function of the exact stop of the AGV station is realized by the way of the navigation camera identifying the QR code of the road surface.Based on the six-wheeled wheel train model and visual navigation mode that AGV has determined,the principle of rectification during trajectory tracking is studied in detail,and a two-input and two-output fuzzy controller for trajectory correction is designed for AGV.It solves the problems of slow response speed and unsatisfactory correction effect under the large deviation of the traditional PID controller.Subsequently,according to the functions and design requirements of the AGV motion device,the overall control scheme of the the AGV for transporting aircrafts among assembly stations is determined.The single-axis control model of the AGV wheels is studied.And the software development of the AGV motion control system is completed.Finally,the main research contents of the paper are summarized and the future work is prospected.