| As the industry matures 4.0 concepts, intelligent equipment and intelligent manufacturing has been more and more attention and development, agile manufacturing is becoming the main mode of development and growth. The automatic guided vehicles as an important component of modern equipment manufacturing enterprises in the logistics operation of the system, which is mainly used to achieve the storage and transport of raw materials, semi-finished and finished components for flexible production systems, intelligent, integrated and maintained highly efficient and stable operation to provide significant support and assurance. In this paper, the development of the Ninth Academy of Aerospace Technology Group, Institute of Robotics Division sixteenth AGV project requires background research based on fuzzy control of laser guided AGV technology..Paper kinematic model of the AGV, from straight and turning two different conditions The motion AGV deduced kinematic equations and error equation. In order to solve the differential drive the vehicle in question traveling deviation process, this paper presents the existing differential drive means replacing the wheel while driving, fuzzy control algorithm in motion control, based on the movement of the AGV in the normal position error and azimuth error input, steering wheel angle is output, the establishment of a t wo-input single-output fuzzy control system, through analysis and comparison experiments to determine the fuzzy controller parameters, and the use of home-made car conducted experiments related to kinematics, control systems and to verify the correctness of the model for the further study of laser guided AGV car lay a theoretical and experimental basis. Experimental results show that, AGV control system running smoothly, good performance, and its maximum speed of up to exercise 40 m / min, navigation accuracy up to ± 10 mm, parking accuracy up to ± 5mm, can work continuously 24 h, can meet production needs. |
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