Photoelectric Guided AGV Based On Freescale MCU

AGV is the abbreviation of Automatiic Guided Vehicle, also generally called AGVvehicle. AGV means that there is a Photoelectric guidance or Electromagnetic guidancedevice on it,and it can run along the provided routine through servo motor driving, anddoesn’t need driver. AGV provides a highly flexible and automated modes of transportfor modern manufacturing, modern logistics.After look up numerous references about AGV, and consider development cost andactual requirement, this paper introduces a low cost, good performance, wideapplicability AGV.This paper mainly introduces AGV control system’s structure of hardware andsoftware and development process. AGV vehicle traces the routines through four lasersensors, avoid obstacles though a ultrasonic sensor, gives an alarm through aloudspeaker, make vehicle go straight on or turn left or right through controlling thevelocity of two servo-motors in back of vehicle separately. The universal wheel in thefront of vehicle supports the car body. The design of the whole vehicle system includesmechanical structure of car body, circuit design and signal process of sensor, controlalgorithm and strategy optimization, program debugging and so on. To improve thereliability of vehicle, test kinds of schemes, and upgrade and promote, when vehicleturns left or right, test the velocity of two servo-motors many times to make vehicle’sturning path best, and finally confirm this system’s structure and control parameter.AGV vehicle’s hardware platform uses MC9S12XS128MAL’12X environment,software platform uses CodeWarrior IDE V5.1.Through test in the lab, the AGV vehicle can adapt to common turning routines,and get rid of the interfere of the black lines but not routines, and get the trial objective.