Single Wheel Laser Guided AGV Obstacle Avoidance System Based On Fuzzy Control

AGV is the abbreviation for Automated Guided Vehicle. With the improvement of the level of industrial automation, AGV, as a kind of mobile robot, has gradually become an important part of the enterprise internal logistics system. A laser guided forklift AGV with single wheel has a very high application value in the actual industrial application because it has the advantages of no track, high control precision, high degree of automation, free of obstacles, good robustness and so on. However, due to the technical level of the restrictions, AGV obstacle avoidance technology has been the difficulty of the research in this area. In this paper, a single wheel laser guided forklift AGV was used as the experimental platform, we will carry out the research and design of its obstacle avoidance system. The system is based on the fuzzy control theory, we proposed a new method to detect the obstacle area, and the effectiveness of the system is verified by several groups of experiments.First of all, the single wheel laser guided AGV was built as a platform for forklift, the AGV is a prototype of Ningbo LIDA CDD20-D930 human forklift, then the car was modified.The paper in turn introduces the frame system of the vehicle system, main control system, servo control system(drive system and steering system), handling system, security system, laser guided positioning system, communication system and human-computer interaction system. Based on the analysis of the single wheel laser guided fork lift AGV kinematics model, we introduced the selection and function of main controller-beckhoff and affiliated modules, driving motor drive, steering motor drive and encoder, shift load pump motor drive, encoders and other key components, some electric principle diagram are given at the same time. We analyzed the principle of laser triangulation scanning locator, used the SOPASA software to plan the map of the experiment site, configured the position coordinate data of the reflective adhesive plaster, and introduced the manual operation interface and automatic operation of the layout of the interface in the hum an-computer interface.After that, several common obstacle avoidance algorithms are introduced, such as fuzzy obstacle avoidance algorithm, artificial potential field method, grid method, genetic algorithm, neural network method, and so on.We also introduced the definition of fuzzy control system and its general composition.Then, we began to build the obstacle avoidance control system, and put forward a fuzzy control regional obstacle avoidance method.We designed obstacles to make a comparison with the detection distance method. The results show that the detection area method is more accurate than the detection distance method. Then we used the S300 SICK laser obstacle avoidance instrument and US100 ultrasonic module combination as the obstacle detection module,and designed the obstacle avoidance strategy.We made a design of fuzzy obstacle avoidance controller, and made an output of three-dimensional map Viewer Surface interface.At last, the software is programmed. When the variables are set, ST language is used to write the underlying program in beckhoff TwinCAT PLC system, including power on initialization, straight section, turning section. The VC# development environment is used to write the upper obstacle avoidance system program in beckhoff main controller. In order to test the practical application effect of the obstacle avoidance system, three kinds of obstacles were designed, and the coordinate data and other properties of AGV were recorded. The results showed that the obstacle avoidance system of AGV can effectively avoid the 3 obstacles, and there is a safe and stable process.