| Laser guided AGV is an automatic guided vehicle which uses the laser scanning system as the positioning device. This type of AGV is more accurate than ones guided by the other devices. It does not need to lay the tape or other location facilities on the ground. The path is more flexible, free and the degree of automation is higher. Therefore, it will be more and more widely in the field of multi robot system and become an important direction of the development of AGV.Firstly, the seven components of AGV system and the functions of each part are introduced briefly. After analyzing the characteristics of the hardware structure, the guidance type and the driving mode of the laser guided single rudder driving AGV, this type of AGV is analyzed and the mathematical model is established. Four main modules of the vehicle control system are introduced and the function, working principle, configuration method and operation details of the application of the laser navigation products in the vehicle control system are explained. As well as how to set up the global map and get the navigation parameters in the vehicle is introduced. That is the global coordinate and attitude angle of the laser head.Next, the concept of segment control is described. Based on the geometric analysis of the mechanical structure of the car body, the laser navigation return parameters are converted to the body reference point coordinate and the attitude angle. In the two dimensional coordinate system of laser navigation system, the mathematical models of different segments are established. Based on analytic geometry, the linear equation, the circular equation and four order curve equation are established. By comparing the reference point coordinate with this in the guidance trajectory equation, the distance and attitude angle deviation control model is solved.. The basic concepts, characteristics and core ideas of fuzzy control algorithm are introduced. Emphasis on the design and implementation of the fuzzy controller in the vehicle control program:The input and output of the deviation is transformed from the actual domain to the fuzzy set theory. Make two accurate bias fuzzy. According to the expert operation method, the fuzzy rule and the semi rectangle membership function are established. Operate it according to fuzzy rules. Anti-fuzzy output. Finally, get the precise steering wheel angle. In the vehicle control system, based on the C# language, the fuzzy control algorithm is realized. The motion controller converts the control variables and then sends to the drive. Then, at a fixed sampling period, make the servo motor to change the wheel steering angle.Finally, taking the DL enterprise AGVs material handling system as an example, the layout of AGVs is designed. Segmented control guidance method is applied to the AGV system in the project. A large number of experimental results show that the method is effective and practical. Output actual trajectory data. With MATLAB processing data, draw the actual trajectory. The analysis shows that when there is the larger deviation in the system, the segmented trajectory guidance control is effective. At the same time, it is proved that the subsection control method can adapt to the complex AGV default path. The track deviation is small. The response speed is fast. And the stability is good. |
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