| Automatic Guided Vehicle (AGV), an unmanned automatic transport equipment, is a keyequipment of modern logistics system. It receives commands from the host computer andreturns its status messages through communication system. The host computer of logisticssystem can monitor and control the AGV autonomous driving from start point to end point.Functions of how to receive commands from the host computer in automated logistics systemand the most efficient handling of goods in the shortest path are studied and designed in thispaper.Firstly, the AGV's structures are introduced, and analysis of the AGV's structurecharacteristic is followed. Then the genetic algorithm (GA), immune algorithm (IA) areintroduced and the former two algorithms are compared which shortcomings are analyzed. itis proposed the AGV path planning method based on the immune geneticalgorithm(IGA).This method includes two steps: The first step is to use the grid method toestablish the free space model of the AGV, the followed step is to find the optimal path forthe AGV based on immune genetic algorithm. The results of simulation for IGA which canevade from all obstacles, reach the target point from the starting point, and the path is theshortest and very smooth.Secondly,the communication system is also designed for AGV in the paper and it isproposed a two-way communication method based on ZigBee for communication between theAGV and the host computer of logistics system, designed the programs and Star NetworkGroup network programming.Finally, it is verified that path planning and communications for AGV in the automatedlogistics system by the experiment. The results show: from starting position AGV avoidsobstacles to reach the target point to complete the cargo mission, and plans the path for the shortest path.The communication of the AGV and control of the host are also designed. Thehost computer of logistics systems and the AGV can be realized two-way communication.The design goals are achieved successfully. |
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