Research On Storage AGV System Design And Path Planning Based On ROS Platform

As an important part of the national economy and the lifeline of modern commercial activities,logistics has been valued by all countries around the world.AGV(Automated Guided Vehicle),as one of the characteristics of intelligent and modern logistics field,has important research significance for warehousing,logistics industry and intelligent manufacturing industry.At the same time,it also puts forward higher requirements for the compatibility,the flexibility of development and the high efficiency of path planning function.Under the above background,this paper proposes an AGV design scheme suitable for warehousing and logistics system: design storage AGV model based on storage environment,build storage AGV system based on ROS(Robot Operating System)platform,and its path planning function is studied,modeling and optimized.The main contents are as follows:First,based on the high compatibility,expand A * algorithm,using grid mapping method to build the basic path planning algorithm model,on this basis,redesign A * algorithm to select the inflection point of node cost criteria,and adjust the path search node selection strategy,in order to deal with the traditional A * algorithm path planning process more inflection point,the search effect is not the best.The MATLAB software platform is used to carry out various simulation and experiments of various forms and scales on the built model.By comparing the simulation experiment data obtained by the algorithm model before and after optimization,it is verified that the improved method can effectively improve the efficiency and effect of path search,and the planned driving route is more reasonable.Secondly,this paper optimizes and models the layout of the warehouse center,and designs a matching AGV model.After clarifying the overall system framework,the hardware structure framework and the application software framework are built.Based on the above work content,ROS is used to modular develop and verify the system and various functions of storage AGV.According to the overall design idea of software and hardware in the early stage,the system is divided into several key functional modules,and the relevant parameters and type files of each module are designed and configured.The various functional modules are integrated to develop a basic storage AGV system.Finally,this paper implements and tests the basic functions of the storage AGV system and path planning theory based on ROS platform.Using gazebo simulation software,rviz visualization tools for auxiliary verification,applying the A * algorithm before and after the optimization of this paper in the simulation environment,comparing the actual operation of path planning line and AGV,and get the feasibility and rationality of the storage AGV system and path search algorithm designed in this paper.