Studying Of Path Projecting And Control Of AGV

AGV (Automatic Guided Vehicle) is a vehicle that equipped electromagnetic or optical devices, and can move on the prescriptive routes automatically. At the same time, it has safety protection system and loading & unloading system. It is one of the most important equipment in some Logistic or Material Flow system. Path projecting is the key technique among the researches of the AGV. It is very important to design a control system that has the following characteristics: small tracking error, quick dynamic response and adaptability to complicated circumstances.Firstly, car shape, internal structure and the usage specification of the car are introduced. The structural characteristics are analyzed and the navigation medium is introduced. By analyzing the application of navigation car in three-dimensional warehouse as an example, the actual application is discussed. Then a motion module is established based on the relative motion relationship between navigation car and its path. By analyzing the static feature and dynamic feature of driving system, driving system identify is finished and the transfer function is obtained. Furthermore, the general path projecting of the controlled system is established.Secondly, several algorithms are analyzed to apply them in path projecting of AGV. It turned out that the ant colony algorithm is better way of controlling cars. The path projecting based on ant colony algorithm can find optimized path according to the unique abilities of ants controlling themselves. It is turned out that the most optimized path to destination can be found according to surroundings and manipulator model.Finally, a car controlled by voice is designed and realized, and the car can simulate AGV movement. The car can finish many movements such as going forward, going back, turning left, turning right and so on. Two additional infrared sensors are used to monitor the car's driving scope to guarantee the car can run in specified scope. The software of voice recognition is finished,and the hardware is modified.At last,the movements of the car are validated.