Study On The Ultrasonic Positioning Method Of The Automated Guided Vehicles

It was discussed about the positioning method and positioning precision of the AGV (automated guided vehicles) drived by the two differential driving wheels in this paper. On the basis of analyzing the kinematics model of the AGV, kinematics equation was set up. Opened and closed loop control was chosen to control method of the motion track of AGV to its position and orientation. Carrying on teaching in and calibration to the analog and switch ultrasonic sensor in the experiment respectively, and carrying on linear fitting to the output signal of the analog ultrasonic sensor, and giving out the fitting formula. The digital filter was done to the output signal of the analog ultrasonic sensor. On the basis of setting up the ultrasonic measure model , the positioning precision experiment of the AGV was done with the analog and switch ultrasonic sensor separately, and it was done with the analog and switch ultrasonic sensor combined together, and at last it was done with the ultrasonic sensor and the position switch combined together. Research results are all carried on the prototype of our research institute. Through application and examination, it has proved that the adopted kinematics model and position control method of AGV has been feasible.