The Design Of Automated Guided Vehicle In A Structured Environment

As a new type of unmanned transport equipment, intelligent and information automatic guidedvehicle(AGV) combination of high and new technology on various subjects such as mechanical,electronic, computer etc on the basis of the traditional logistics and storage handling device, andthese put into application in the automatic warehouse, all kinds of commodity production workshopand assembly manufacture line, improves the flexibility and commonality of the whole handlingsystem, resolve the disadvantage of inefficient and staff redundancy in old-type methods of handling,make AGV more widely, practically used in various complex, three-dimensional, structural workenvironment. The purpose of this study is to determine a set of system research scheme applied inthe laboratory under the condition of low cost and high reuse, obtained information through a varietyof sensors to realize space exploration of around environment information and position, direction ofmotion of AGV. After data processing and data fusion to achieve accurate and effective guidanceand handling function.This article start with the guiding technology of AGV, and according to mechanical structure ofthe vehicle and the way of moving that front wheel swerve and rear wheel drive, selected inertialguidance method to suit the design features, and then establish the motion model of AGV, analysisof its motion control law. According to the characteristics of structured environment, installation ofvarious sensors in different division above and around the vehicle body, real-time acquisition of thesurrounding environment information and then transmitted to the main control processing unit,using multi sensor information fusion technology to dispersed make use of each overlay or signaldata more effectively, complete the AGV guiding and positioning, safety obstacle avoidance,autonomous driving, handling and transition etc. steps. Based on the system algorithm to formulatesoftware architecture and making software design.In a structured test environment, using laboratory equipment and commercially availablecommon components to build an experimental platform of this research, through the use of on-boardgyroscopes and encoder of AGV in structured indoor environment in the offset information andcourse information, then the guiding and positioning experiment of AGV, verification of the inertial navigation system precision and real-time performance, the absolute positioning and ultrasonicsensor and infrared sensor aided analysis and security obstacle avoidance processing, collectdistance information through majority voting mechanism selection and weighted average fusioncalculation, real-time detection of AGV obstacle experiment, verify the stability of the system thesafety and emergency obstacle avoidance. After experimental verification, the majority of propertiescan meet the design requirements of the system. Finally, the research contents and results aresummarized, the research to find out the shortcomings and deficiencies, put forward the need tofurther improve and enhance.