Research On Path Design And Tracking Control Of AGV

With the development of production and automation, the traditional manufacturing's method have changed deeply, at the same time, the material conveyance's system should meet those demands of automation, flexibility and just in time. AGV's path planning has been developing into an important research field under such background.The paper studies mainly on the path planning and control character of AGV on the base of three-wheeled vehicle, and introduce the structure and components of AGV.The main work in the dissertation is arranged as follows:(1) The paper studies on the structure of AGV,and states the work theory of main function module. The paper has decided the design of hardware to meet the demands of practical projects.(2) By analyzing some common positioning methods, the paper chooses laser scanning system for AGV's positioning. Paper introduces the structure of laser scanning system, and the theory for calculating the position is detailed.(3) The paper analyzes the mathematics model of AGV. And take the full consideration of the disturbance caused by uneven ground, the kinematics model and dynamics model of the vehicle are proposed. This is the base of vehicle control.(4) The paper analyzes the advantage and disadvantage of some path planning method of AGV, and adopts the method based on vector field model. Using this method, a satisfying path can be planned.(5) After deducing the kinematical model of the three-wheeled vehicle, a fuzzy controller, which can benefit from the driving experience of human, is designed to control the AGV for the path tracking. And the experiment results show that this method achieves the expectant goals, and it ensures the smoothness of AGV moving.