Research And Realization Of Automated Guided Vehicle Vehicle-mounted System

Automated guided vehicle (AGV) is a comprehensive control system that combines technologies such as ambient awareness, dynamic decision, montion control and etc all in one package. It is widely used in industries such as flexible manufacture system (FMS), material handling system (MHS) and stereoscopic warehouse system (SWS). A complete AGV system consists of ground-based system (upper monitor system), vehicle-mounted system (hypogynous-machine system) and external equipments.This article focuses on the design and development of AGV technology in the project of "Laser Guided Transportation Vehicle System" that consists of the theoretical and practical studying with respect to the AGV vehicle-mounted system. The main research contents in this article are listed as follows:1. The detail of working system prerequisites. The process condition, working process and key technology that makes up AGV system. Also the study of ground-based system and external equipments.2. With the vehicle-mounted system being the core part of AGV system, this article not only study on the detailed principles of system but also divide it into main control system, laser guided positioning system, movement servo control system and other5sub-systems with the analysis and design of each sub system. It is also designed and developed the hardware and software of the vehicle-mounted system based on PLC and other related equipments.3. Developed an AGV kinematical model and derived compact AGV movement equation based on motion process analysis. Researched on laser positioning method and navigation&guided control method, and suggested related control strategy. On that basis, two main control algorithm of the AGV vehicle-mounted system are presented: one is Fuzzy-PID based deviation-correcting control algorithm for Laser Guided AGV, and the other is Fuzzy-PID dual-mode control algorithm for AGV obstacle avoidance. And prove the feasibility by Matlab/Simulink. 4. Confirmation by engineering experiments based off of the theoretical thoughts in this article. Through the system debug and data analysis, the results show that the performance can be significantly improved, the stability, reliability and speedability can be further improved to meet the control requirements of the system by using this system which is designed in this article.