Design And Implementation Of Control System And Program Interface For Autonomous AGV Application Layer

AGV(automatic guided vehicle)has the characteristics of high flexibility and high intelligence.It can greatly improve the efficiency of transportation by using AGV to complete the transportation task.In order to give full play to its application value,the research on multi AGV group control has become more and more important research direction.Therefore,it is very important to develop an AGV upper control software,which can not only control the single AGV to work,but also coordinate the operation between them in the environment of multiple AGV,avoid collision and path deadlock.Based on the key project of Fujian Province production,learning and research,"research and development of autonomous navigation AGV device based on vision and inertial positioning",this paper designs a set of automatic AGV application layer control system for laser slam navigation,which is the upper control software design which integrates single vehicle operation and multi vehicle control functions.The main research and design work of this paper includes the following parts:(1)The design of multi AGV motion coordination method based on traffic control.Based on the AGV itself can carry out global and local path planning,an application layer traffic control algorithm is proposed.The algorithm can realize the coordinated motion between multiple AGVs,and avoid or reduce the collision and path deadlock between AGV.(2)The function design of AGV application layer control system.The overall scheme and function requirements of the upper control system of AGV are analyzed,which are divided into two parts:AGV operating end(mobile phone or pad)and multi AGV control end(PC).In the AGV operation end,it can realize the operation of single AGV and communicate with the multi AGV control terminal.In the case of multi AGV,the AGV is sent to the task and coordinated control of AGV is carried out in combination with traffic control algorithm.(3)The design of communication message and API interface function.The main part of AGV is in the state of continuous communication with AGV operation and multi AGV control.Therefore,in order to avoid the confusion between multiple communication information,the format and specification of communication message are designed.At the same time,the API function of the three is encapsulated,which makes it convenient for users to develop the upper application software of AGV.(4)The software implementation and experiment of AGV application layer control system.Based on Android system and Java language,software development,implementation and application test of AGV operating side are carried out.Based on the ROS system and c/c++ language,the software system of multi AGV control terminal which can be used for real machine test and simulation test is designed.The simulation experiment and analysis of the coordination function of the traffic control algorithm are carried out.