The Control Technology And Path Planning Method Of AGVS Based On Wireless Network

The paper mainly studied the control technology and path planning method of AGVS based on wireless network, and proposed a control technology. The AGV was controlled by embedded X86 motherboard, combined magnetic sensors navigation and RFID positioning. Besides, the paper realized the remote monitoring based on wireless network, and proposd a multiple AGV path planning method based on time windows of nodes.Firstly, according to the actual demand for AGV of the subject, this paper studied the overall scheme and hardware structure. Secondly, according to the common driving types of AGV, differential driving that the front wheels differentially drove and the after wheel followed up was adopted. The kinematics model of environment is established, and the simulation results with Matlab verified the accuracy of the kinematics model. Thirdly, the electronic map is established. A* algorithm is chosen as the path planning algorithm of the single AGV in the static electronic map, and the path planning of single AGV is carried out. The paper used the combination of node time window and A* algorithm to orderly plan the path in free time window of node. The conflicts between AGV were solved by using speed adjustment strategy and geometric path adjustment strategy. Finally, AGV prototype and prototype experiment was carried out, and programed the control software, including data acquisition and data acquisition of serial port, crossroad recognition and orientation correction of magnetic sensor, debugging, PID control methond, positioning and data transmission of RFID, etc. And the paper used the vc++ platform to develop the system software of the upper and lower position computer, set up the database management module, wireless communication, data transmission, remote monitoring and software system of dynamic path planning based on the dynamic electronic map.