Research The Key Technology Of Vehicle Control System On Double Bogie Drive AGV

According to the definition of National Standards of the People's Republic of China:Logistics Term,AGV is the material handling vehicle which equipped with automatic guiding device,can drive along a prescribed path,has the programming and choice of device,safety device and moving load function in the body.AGV has a high degree of automation,security,flexibility and other characteristics,which is widely used in many industries all over the world.Double bogie drive is away to achieve omni-directional AGV,which has many advantages,such as lower body height,higher load,higher control accuracy,and so on.This paper research the key technology of vehicle control system of the double bogie drive AGV.The key technology of vehicle control system includes the navigation,guidance and driving control.In order to implement the AGV's omni-directional movement,this paper presents three operation modes:Track mode,Translation mode and Differential Translation mode.This paper discusses its mathematical model and the kinematic equations,select the appropriate sensor and design PID correction algorithm.In motion control,the input variables converts to the output variables by calculating the mathematical model and the kinematic equations,and the output variables converts in to the control variables by calculating the correction algorithm.Design experiments to verify contents of this paper.The AGV can drive automatically omni-directionally and shift driving mode automatically,and it's control accuracy is less then ± 10mm,if the double bogie drive AGV uses the control mode in this paper.