Motion Control Of Mcu-Based Differential Drive Automated Guided Vehicle

Automatic guided vehicle (AGV) is a typical application of wheeled mobile robot technology. AGV achieves self-guidance without manual operation while carrying cargo on board. AGV is key component device in automated logistics and transport system and flexible production system. With continuous development of technology, the application fields of AGV have rapidly expanded. At present, the intelligent motion control of smaller AGV has become a hot spot of AGV research field, so the research on AGV motion control has theoretical and practical significance.Based on the analysis of motion mechanism, hardware composition and control characteristics of AGV, an AGV test platform is developed. In the platform, MCU is used as control core and optical technology is used as guide approach. PID control is used to achieve position closed-loop control operation of guidance. By test running, the platform enables differential-drive turning, route guidance, positioning and path search function, and achieves desired objectives. The test gets good motion control effect and expected goals, provides software and hardware platform for further research.The major work of this dissertation includes the following aspects:(1) Analyze the key technologies of automated guided vehicles, conduct in-depth study of the kinematics characteristic of differential drive steering mechanism.(2) Develop system hardware circuits and control software. Hardware circuit part of work includes hardware design of main control unit, sensing unit, motor drive unit and power unit; control software part of work includes the realization of various modules function and motion control.(3)Discuss the control principle and algorithms of path identify, locate and search control in the area of motion control. Aiming at the motion characteristics of Automatic Guided Vehicle, Apply improved integral separation PID algorithm to guidance motion control. (4)Build test platform and make motion control test running. Test the guidance motion speed, correcting capability and actual operating results of path searching and obstacle avoidance functions. Finally, the test results are analyzed in depth.