Research On AGV Path Tracking Control

Automatic Guided Vehicle(AGV) is an automatic transportation vehicle without driver,and with a certain amount of weight it can travel between the departure and the destination, It covers the technologies of Optics, Electronics, Acoustics and Computer Science and other advanced theories and technologies in the current scientific and technical fields, and it is one of the offshoots of mobile robot. AGV as an important device of modern logistics can improve the level of enterprise production, not only to reduce the waste of resources but also reduce the cost of labor, the rewards are higher and faster at same time.In the process of automatic guided vehicles research, we found that as the core technology of the superiority of path tracking technology directly affects the AGV performance.Analysis of the structural characteristics of guided vehicles, combined with the research guide the selection of appropriate three-wheel car. Establish the motion model based on the motion characteristics of the type of car and sports relations. Analysis model to get the relationship between deviation(distance deviation and angular deviation) and the wheels velocity. System identification method is used to get the system transfer function, contact AGV dynamic and static characteristics of drive system, then, the state space model of the system is established.According to the design method of fuzzy controller, makes the linear function of distance deviation and angular deviation as one of input and makes its change ratio an another input to design fuzzy controller with two inputs and one output. We find that the performance of fuzzy controller in small deviation case is not good as conventional controller In order to resolve the shortage of singer controller, the thesis chooses threshold switch method to optimize the controllers in tracking controlling of AGV The fusion makes two controllers Complementary advantagesSimulation results shows that fuzzy controller has a large advantage in control effect,especially in the case of large deviation, fuzzy controller can quickly correct path compare with the traditional controller. Also, results shows that the optimized controller makes AGV has a strong adaptability in each case of situation,and improve the output oscillation and overshoot phenomenon of path tracking at the same time.