Research And Development Of Wheeled Automatism Navigation Robot

As the greatest invention of the 20th century, the robot technique has obtained the substantial advance during the 40 years' development since the beginning of the year 1960's. The navigated automatical robot is one of the mature industry robots, calling the AGV (Automatic Guided Vehicle) .The navigated automatical robot are presented for attends the China Robot Game(CRG) .According to requerements of the CRG and with the possibly low manufacturing cost, the total design, bedrack design, drive system design, the choice and the layout design of sensors , the running and the control strategy programming of the AGV are also studied in this paper. The main contents are as follows:1. Using the color sensor as the navigation sensor, with MCU for control centre, the robot is drived and change direction by the differ direct current motor.2. This design adopts one aluminum alloy metal plank as the bedrack. It has the characteristics light weight, the low center of gravity and the small drive power etc. The bedrack structure is designed by using the three-dimensional CAD software.3. By analyzing the running speed of two-wheels , three-wheels, four-wheels project ,adopting small three-wheels project with two independent driving and veering system. Based on these, we can calculate the driving power of the AGV, the twists of the motor and the storage battery capacity.4. According to the calculating the driving power of the AGV, the twists of the motor and the storage battery capacitywere set up and the DCmotor and the driving elements were selected. The driving circuit was designed.5. On the control mode, the PWM wave produced by MCU to control the DCmotive.6. The type and the parameter of the color sensor were determined, the quantity and layout of the color sensors were also determined.7. Bases on the competition request and running puth establishes by the CRG, the fixed position strategy. The control strategy of the AGV were programed.The low manufacturing cost and simple practical techniques make it has the practicalvalue in the aspects of AGV design education andresearch. Through the continued test and simulation contest, the AGV was running normally.