| AGV(Automated Guided Vehicle) has been widely used as a modern manufacturing system material transport equipment. AGV Industrial system has been a hot issue in the field of industrial robots. This paper reviews the current domes tic and foreign researches on AGV, and presents a set of new methods mainly to solve the four key problems for a magnetic navigation AGV system.According to the kinematic constraint of mobile robot, this paper set up the kinematic model and analyzes the kinematic laws. Firstly, this paper establishes the kinematic model and analyzes kinematic laws based on AGV entity. Then, this paper present two kind of positioning technologies of mobile robot: relative positioning and absolute positioning. Finally, this paper introducesthis two control methods used in mobile robot: open-loop control and closed- loop control. At the same time, this papercomplete the motion control simulation experiment through the platform of Matlab software, analyzes the open- loop control’s error sources and shortcoming, and uses state feedback controller as the representative to researching closed loop control mode.Aiming at the overall framework of the system of AGV magnetic navigation, this paperstudies the corresponding hardware scheme. Firstly, according to the overall framework of the system of magnetic navigation AGV, this paper put forward the hardware schemeof monitoring management layer, communication layer, control layer, function layer and the sensor unit layer. Secondly, this paper focus the work on navigation, location, special command, motor drive, closed- loop control of AGV, system power sourceand safety unit. Lastly, this paperproved the feasibility of the hardware schemethrough relevant experiments.Pointing at hypogynous machine control system for AGV magnetic navigation system, this paper researches the vehicle motion controller.Vehicle mot ion controller comprises a motor driving, navigation and positioning, special order and safety these four functional units. This paper studies the working principle of these units and realizes these functions. Among them, this paper combined with the class ical PD controller and fuzzy controller and established a fuzzy adaptive self tuning PD controllerto be used for modified AGV line capacity.Finally, this paper carries out some relevant experiments. Experiments of navigation and localization experiments verify the feasibility and stability of vehicle motion controller, fuzzy self- tuning PD controller experiment proves the reliability and the superiority of the controller.According to epigynous machine control system for AGV magnetic navigation system, this paper studied the integrated computer control system. Above all, this paper describes the functions and modules of epigynous machine control system. Next, this paper presents a grid map of single source shortest path problem algorithm. The actual map will be abstract into data structure in the form of raster map in this paper. Then, the paper points out the relevant algorithm has complexity greater defect and combines with the character of raster map and tree selection sorting method to improve Dijkstra algorithm and design a algorithm to find the shortest path from specified vertex to the rest of the vertex in the grid map. The algorithm reduces the complexity of algorithm. At the same time, this paper presents a kind of communication protocol between inte grated computer control system and vehicle motion controller based on CAN field bus. Last, this paper uses MCF(the application framework of Visual Studio 2008) to develop the software of user interface and complete the specific function of the system. Meanwhile, this paper takes the experiments of navigation and path planning and verifiesthe integrated control system is stable and feasible.Finally, this paper summarizes the mainly research results and points out the difficult problems and directionto further research in AGV magnetic navigation system.This question will be gradually improved and solved in the future research. |
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