Research And Implementation Of Adaptive Obstacle Avoidance Strategy For Automatic Guided Vehicle(AGV)

Nowadays, with the rapid development of transportation logistics industry, the application of robot technology has become an important factor to determine enterprises’ competitive power and future development. As a kind of intelligent robot, the automatic guided vehicle(AGV) has been successfully applied to the logistics industry to improve efficiency. Especially in the cargo handling and turnover, AGV can be fully qualified. In order to ensure the safety of AGV transportation, AGV needs to avoid obstacles. The existing obstacle avoidance strategy is to set a fixed distance threshold. When the distance between AGV and the obstacle is less than the threshold, AGV stops immediately. Obviously, there are some shortcomings in this method. For example, the obstacles are moving objects such as other AGVs, forklifts or pedestrians. On this occasion, AGV will decrease the transportation efficiency with the phenomenon of intermittent start and stop actions since the distance constantly changing between the obstacles and AGV.In this paper, aiming at the defects existing in the existing obstacle avoidance strategy, AGV adaptive obstacle avoidance strategy was proposed, which is to reduce unnecessary start and stop actions under the premise of the safety of AGV driving.Finally, the relationship between parameters and alarm distance was simulated by MATLAB, and simple software was compiled to verify the correctness of the AGV obstacle avoidance strategy. Then, adaptive obstacle avoidance strategy verification experiment was carried out on the existing AGV in the laboratory. The experimental results show that this adaptive obstacle avoidance strategy is feasible, and the alarm strategy is effective, and the transport efficiency of AGV is improved.