Study On Navigation And Obstacle Avoidance Technique For Auto Guided Vehicle (AGV)

As an automated handling tool, Auto Guided Vehicle (AGV) becomes the main means of transportation in the automation storage systems with its flexibility. A complete AGV system includes PC scheduling system, communication systems and AGV vehicle control systems. Vehicle scheduling, route planning, navigation, and obstacle avoidance are the main issues of AGV research. This paper focuses on the navigation guidance and obstacle avoidance algorithms of the vehicle control system.First, on the basis of summarizing AGV systems in the composition, application characteristics and development status, this paper analyzes the AGV Laser positioning algorithm and tracking guidance. The error resources of navigation are analyzed and error compensation method was given.Secondly, the basic concepts of fuzzy set theory, fuzzy control theory is clarified. Multi-sensors are used to detect obstacles'information. The designing of obstacle avoidance fuzzy controller is discussed from fuzzification, the establishment of fuzzy rules, defuzzification.Finally, a laser-guided AGV vehicle control system is set up on the developing platform of AS-RF two-wheeled robot. The guidance of AGV is realized based on tracking guidance, and the actual operating data shows that tracking precision is well, the running path is smooth. Meanwhile, an obstacle avoidance fuzzy controller is established. The fuzzy obstacle avoidance algorithm simulation result shows the safety and stability of AGV obstacle avoidance.