Research On Path Tracking Control Strategy Of Omnidirectional Dual-drive Laser Guided AGV

Automated Guided Vehicle——AGV for short.It is one kind of the automated logistics equipment,an intelligent mobile handling tool.AGV is widely used in warehousing and material handling,manufacturing plants and distribution centers supplying materials out of storage and other operational aspects including transfer pallet.Now,increasing labor costs,demand-driven production,increase product divers are the characteristics of the current industrial age.More and more companies(especially manufacturers)focuses on ways to improvecompetitiveness of enterprises through automation production,because the automatic handling equipment can replace the labor,and reduce costs,So AGV has gradually become a hot industrial applications.Based on the study and development of the singledrive laser-guided AGV designed in my lab,with an Omni-directional dual-drive laser AGV as the research object,I designed its control strategy and analyzed from simple and complex levels.Firstly,this article introduces the basic content of AGV,Including a variety of drive ways with different driving performance.Then,by triangulation method is the principle of laser navigation and positioning method.By using the laser navigation sensors,AGV body coordinate parameters can be obtained in the global coordinate system as the original data of the control system.Then,the paper analyzed the movements of the single drive laser AGV which lab developed and dual-drive laser AGV,and the establishment of the mathematical model to each of them.Given the object of this study is based on laboratory-based single-drive laser AGV,so a single drive laser laboratory AGV body structure and vehicle systems modular design are described in this paper.Meanwhile,the theoretical analyzed the single drive AGV posture deviations and source in the process of moving,and the introduction of a single drive laser AGV path tracking control strategy and its implementation.In the process of correcting its posture deviation ofthe single-drive laser AGV,Iused fuzzy PID control method,through repeated experiments to verified the control method is feasible.Based on the control strategy of single-drive laserAGV studied in laboratory as the premise of this paper,I innovatively proposed two control strategies to the dual-drive laser AGV which is being developed and verifiedthe feasibility by simulation.