| With the development of technology, the traditional industry is experiencing a change in automation and intelligence. With the emergence of automated warehouse the AGVs (automated guided vehicles) as efficient tools are increasingly being applied in flexible manufacturing production systems and automated warehouse. But its applications are constantly expanding which has penetrated into all walks of our life. AGV system is composed of a complete PC system, AGV vehicle control systems and communication systems and other components. There are several hot issues in currently AGV research such as navigation, path planning and obstacle avoidance safety technologies and so on. Firstly, the overall design of the AGV control system has been given, and based on this we explored the AGV environment modeling, path planning and other issues.Firstly the thesis summarized the AGV history, present situation, system components and key technologies. On the basis of that the kinematic model of four-wheel differential steering AGV has been analyzed in detail. And the AGV control system design and the main selection and implementation of the module which PC communicates with vehicle control systems in WIFI while communications between vehicle control systems are accomplished via CAN bus. The thesis also developed a host of electronic map display function systems with MapX controls and VB6.0.Secondly, the principle of the global positioning system associated with the laser has been described in detail based on the introduction of several commonly used global positioning. Then the establishment of an unknown environment with map grid has been proposed.Finally, on the basis of the previous text, this thesis also proposed path planning in a known environment with genetic algorithms and in unknown environment using fuzzy neural networks. And the corresponding MATLAB simulation results have been given. What’s more, the simulation results showed that both methods are feasible. |
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