The Study, Based On Sonar Map Navigation Automatic Guided Vehicle Basis

Auto navigation and localization of Automated Guided Vehicle are two importantissues in the study of theory and utilization. They are also the most important coretechnology to the Automated Guided Vehicle's ingenuity. They are as fellows: environmentinformation collecting and modeling, obstacle realization and path planning.Based on extensive references to the research work and literature in this field,the research of Automated Guided Vehicle navigation based on sonar mapping is deeplycarried out, which aims at researching and developing a fast, accurate and reliablenavigation and control system for Automated Guided Vehicle and upgrading theintelligence of Automated Guided Vehicle. Based on the analysis of composing andprinciple of the sonar navigation Automated Guided Vehicle system, this thesis confirmsthe install position and layout of the sonar sensors. Analyzing the structure andprinciple of calibration of the sonar sensor and combining the navigation characteristicof QDU-ⅠAutomated Guided Vehicle, the least-square method based on relative error isproposed and used to fit the calibration curve of the sonar sensor, which is validatedby experiments. This thesis presents and compares the way of mapping navigation.According to the navigation and obstacle request of QDU-ⅠAutomated Guided Vehicle,this thesis chooses the model based on environment features and uses the sonar sensorsto collect the environment information to recognize the environment feature as planeand nook and so on. Based on the tools of Visual C++ 6.0, this thesis realizes theenvironment mapping and Automated Guided Vehicle navigation in simple varietyenvironment and validates that fits for the navigation request by experiment.