Design Of AGV Controller And Research On Scheduling System

With the fast development of social economy, the logistics industry is facingincreasing pressure.Since the flexible and efficient, safe, reliable, and easy maintenanceadvantages,AGV has attracted more and more attention to the manufacturer in logisticsystem.However, due to the high cost and functions need to be further improved,AGVisn’t so popular yet.In this paper,based on magnetic navigation AGV, related researchesand practices of AGV system were done.In order to develop a AGV system used for factory automation logistics handling,firstly,this paper introduced a kind of AGVS control system architecture according to therequirements of the system, an AGV controller architectuer based on double STM32microcontroller and an AGV monitoring and scheduling system architectuer based on awireless network were also proposed.Secondly,hardware and software design of AGVcontroller were implemented based on STM32.The hardware design included the powersupply board, logic board and the main control board.Software were designedrespectively for main controller and coordinated controller,including wireless networkcommunication,HMI,motor drivers and security,and so on.Then,in order to scheduleAGV effectively,scheduling algorithms of single and multiple AGV system wereresearched through the modeling of the AGV map.Through a summary and comparisionof previous research,the single AGV system adopted classical Dijkstra algorithm, withaddtional appropriate adjustment factor of the weights on the corners for practicalapplications, and for multiple AGV system adopted a two-stage control strategyalgorithm with a little improvement by using an effective controlling method based onthe time window. Finally, AGV monitoring and scheduling system was modularlyimplemented by VisualC#programing technique, using mean of class modeling design.