Study And Design On Control System Of A Laser-guided AGV

AGV(Automatic Guided Vehicle, AGV) is a kind of unmanned automated handling equipments, which is an effective method for automatic warehousing logistics system. And control system in AGV is the most important part, which concerns stable operation of AGV system. We need an efficient solution to solve the coming various problems, such as the consistency of design of software and hardware in controller, research and application of algorithm. ROS open source operating system has been applied gradually, in recent years, and AGV is becoming high-speed, high-precision, open, intelligent and networked.Frist of all, this paper introduces the classification of body structure of AGV, and discusses differences and similarities both the three wheeled AGV and four wheeled AGV.And the paper decides to select four wheeled AGV to design experiment platform; then emphatically discusses AGV’s kinematics and the way of movement to deduce equation of the state of AGV to provide a valuable reference for design and research of control algorithm of AGV controller. The paper also analyzes AGV’s guilded way and three modes of motion to calculate deriving state equation for convenient control and implementation.Secondly, the Chapter three introduces hardware design on control system of a laser guided AGV.The Chapter three fristly discusses DC Servo Motor driving mode and control scheme using FN3788 as motor driver chip. This part analyzes the excellent performance of FN3788 and designs a schematic of DC Servo Motor. Then the paper discusses the closed loop control of DC Servo Motor and the operation principle of hall sensors in current loop and control logic to detect the state of output of hall devices and how to calculate the speed of motor. The Chapter three also puts forward control system of a laser guided AGV should adopt closed loop controland CAN communication mode.At last, the Chapter Four discusses software design on AGV controller based on ROS.The Chapter four introduces the ROS platform for AGV and analyzes system structure. The relationship of ROS nodes, package and pile is a b FN3788 ef introduction.The Chapter four designs controller software, which is initialization, motor driver, non-collision. The Chapter four also discusses the communication mechanism of ROS.The paper also discusses the issue of multi-sensor data fusion level and analyzes the inevitable trend of the multi-sensor data fusion for distributed system. the powerful features of the data fusion inevitably affects the performance of the whole system and we also discuss therelationship between different function module and application softwares based on network in mobile robot.