Agv Path Planning And Controller Based On The Visual Design Of The Study

With the development of modern science and technology, Automatic Guided Vehicle (AGV) is to be more and more widely used in many areas. The AGV is a kind of unmanned-vehicle. According to the instructions of the control system, the programs designed in advance, and the position information of the AGV, which is determined by the sensors on the AGV, it can complete a series of the works, driving along the providing route and stops in work stations.First, this dissertation in detail surveys the Chinese and English literatures, summarizes the technical applications of the AGV system in the domestic and overseas and current situations of the developments and researches, systemically analyzes the AGV characteristics, the types, working principle and the AGV system technical composition, and carries on the detailed explanation to the structure of the machine vision on the AGV. Through understanding of the main structure and the working principle to the Vision-based Automatic Guided Vehicle (V-AGV), this paper studies the V-AGV model in the laboratory conditions, and plans and designs the V-AGV control system using the PC computer control, the battery actuate, and the wireless module communication.Second, using machine vision, the wired guiding technology of V-AGV has many advantages in this paper, including that it can get a amount of information, the assembly and change of routes are very simple, and the system has a good flexibility. Through identification of the road marks of the white lines, it realizes the autonomous intelligent vision guiding, the path tracking and obstacle avoiding of a V-AGV.Third, based on the operating procedures of genetic algorithm, this paper researches an improving dynamic planning genetic algorithm of AGV. The simulations of the path planning algorithm and the experiments have been done.Finally, this paper studies the fuzzy control algorithm of the AGV control. It simulates the decision made like the vehicle driving by human according to the external environment (imported), and makes some fuzzy rules. By the parameters fuzzification of V-AGV, we realize its fuzzy control. And the experimental results show that the features of the fuzzy control are good.