Research On The Control System Of The Omni-directional AGV Based On LabVIEW

Omni-directional automated guided vehicle (AGV) is a kind of autonomous guidedvehicle on which assembled omni-directional wheels. By means of structural advantages, ithas three degrees of freedom on the motion plane, including translation along X-axis andY-axis, rotation around Z-axis. The omni-directional AGV has more advantages toconventional wheeled AGV robot when used in any congested and narrow environments.In this thesis, a new type of omni-directional AGV is designed based on MY3wheel,composed of mobile platform and body. The body is divided into3layers, top, middle andbottom. As functional zone, the top layer reserves cargo; As controlling center, the middlelayer consists of controlling board and driving power of the robot; As driving part, the bottomlayer consists of driving electric engine and driver of engine. The chassis of omni-directionalAGV is composed of4groups of MY3wheels arranged in “+” shape. This omni-directionalAGV could transport cargo weighed in50kg flexibly in the maximum speed of0.25m/s. Inthis paper, the kinematics model of four wheeled omni-directional AGV is set up according tothe structure characteristics of the third generation of MY wheel, which lays a goodfoundation for the following control of the robot.In this thesis, to satisfy the requirements of the stability and real-time performance of thewhole robotic control, a controlling system, which is composed of computer, micro controllerand driver, is developed based on NI sbRIO9631embedded controlling board. The computermainly completes programming and the human-computer interface. The micro controllerreceives the movement instructions from the PC and then converts them into the target angleof each motor. The system checks external information of the robot by multi-sensors datafusion technology, such as detecting earth orbit by means of infrared sensor, detectingobstacles around by means of ultrasonic sensor, and feeding back practical environmentimages by means of camera. In this system, controlling software is also developed based onLabVIEW, the software is simple to operate and friendly to interface. Finally, some application tests are conducted to conform feasibility and validity of the whole controlsystem.