AGV Path Tracking And Control Research Based On Wireless Localization And Simulate System Development

AGV (Automated Guided Vehicle) is a kind of taking the micro controlprocessor as the control core, taking the accumulator cell as the power, is loadedwith the non-contact oriented pilotless self-guided delivery vehicle, it may deferto the order which the supervisory system issues, according to procedure whichdesigns in advance, carries the positional information according to the vehiclewhich the sensor determined, and anchors the position self-piloting along thestipulation of the travel route. It is a kind of a simple motion robot that holdsound, light,electricity and the computer together.The automatic guidancevehicle system (AGVs-Automatic Guided Vehicle System) is composed bymulti-stage AGV, motor control, computer network and wireless communication,is an intelligence transportation system.Along with the production development and the automaticity enhancement,the production method of traditional manufacturing has had the deeptransformation, that is to say, the modern manufacturing already entered theautomated, intellectualized, and personalization stage. As the essentialequipment of the modern age system, because AGV has redundantreliability,controllability and high flexibility, its research and the application arewidely spread.I joined in the science and technology research key project "Automaticguidance Vehicles Wireless Localization, Navigation And Control Research AndAnalogous system Development" of Jilin Province science and technology hall, Ithoroughly studied the technical present situation, the work requirement and thedesign method of each kind of AGV system, according to this project request, Itook part in the entire system's design and exploitation, finally passed throughthe expert group and the Jilin Province science and technology hall projectadministrative personnel's approval.The full text altogether divides into seven chapters, the content arrangementas follows:The first chapter has outlined AGV's developement at home and abroad, andthe AGV system application and its significance, introduced researchbackground and the research content.The second chapter introduced AGV the system design scheme, illuminatedthe structure of AGV system , the hardware composition of the system and therealization method.The third chapter explained the wireless localization principle of AGV, andhad designed the AGV localization module according to the system actual need.The fourth chapter introduced the kinematics modle of AGV based on thedesign of the system hardware , according to the function of the system that needto design, had completed the AGV navigation algorithm design and therealization, and has confirmed the algorithm validity through the simulation andthe actual movement.The fifth chapter introduced the software of AGV system,introduced thedesign of different function module based on VC++.60 .The sixth chapter introduced the test of the system, specialized a number oftesting data.The seventh chapter summarized this practical work, had concluded thework and the disadvantage of the system, proposed the next step of researchdirection.This paper has studied the navigation and control of AGV,the wirelesslocalization method based on ultrasonic associated with infrared,and thehardware implemention. This article has mainly made some contributions in thefollowing several aspects:1.This paper has studied the lead sight path following algorithm of AGVbased on the wireless localization, through the fuzzy control theory, proposed thetransverse dynamic lead sight control model, caused the path following of AGVto be reliable stably.2. This paper has done massive research work to the kinematics modle ofAGV, as well as the control actuation.Also proposed the optimum controlmodel, reduced the influence to the mechanism factors of AGV, had obtained thegood effection in the simulation and the practical application.3, This paper developed the control software of the system based on theVC++6.0, the software has adopted the thought looking on objects, the interfaceis friendly, also reduced the responsibility of the system test in the evening, thepath programming method could choose either the uncontrolled way or the fixedway .Because of my knowledge level and the time, this article still existencesmany insufficiencies need to improve in the further studies:1, This paper needs to optimized the localization method.The presentlocalization scope is small, is restricted by the environment, still need to studynew method.2, The navigation algorithm needs to enhance the resistance to theinterference, when meets a big noise, has the possibility to appear the situationthat the AGV is unable to draw up the predicted way, finally is unable to go tothe end point. So it still needs to improve the algorithm, increase systemrobustness.3,The movement control and actuation precision of the AGV are not high,the control theory is superficiality.These affected the judgement to the simulationresults, it should combine the advanced idea of the current domestic and foreigncontrols theory, carries on the optimization to the algorithm.