Two-wheel Driven AGV Path Planning And Motion Control

With country's economic restructuring and industrial structure transformation and upgrading,the industrial robots ushered in an important opportunity of development.In 2016 the global demand of robots is expected to continue to maintain growth.To a certain extent,robots will replace a large part of the manual operation,which greatly facilitate the people's life.AGV(Automatic Guided Vehicle)through the automated guided devices can move in accordance with the prescribed path and can carry goods in accordance with the planned route without the operation of the driver.The emergence of intelligent AGV optimizes the allocation of personnel and reduces the labor intensity.It also improves the production efficiency and product quality.Therefore,to strengthen the research of AGV has important theoretical significance and practical application value.This paper takes AGV as the research object.In the beginning,it designs and develops the overall structure of AGV.AGV technology is mainly reflected in the development of the control system,drive technology,navigation technology.Thus,the paper focuses on the analysis and study for path planning and motion control of the AGV.With respect to some limitations of the traditional method of path planning and motion control,this paper adopts the ant colony algorithm to solve path planning and obstacle avoidance problem in logistics AGV.In the motion control,this paper designs an AGV controller,which is based on the back-stepping control technology to realize the trajectory tracking.In this paper,on the basis of in-depth study of ant colony algorithm,an improved ant algorithm is used in order to solve the defects of longer search time,poor convergence,and is easy to fall in local optima in traditional algorithms.Through the improved algorithm,the AGV in accordance with the process from the initial position to the target position can bypass the obstacles and ultimately choose the shortest path.Improved ant colony algorithm improves the algorithm's ability to solve the problem,get a shorter time,and can avoid the obstacles effectively.According to AGV trajectory tracking control problem,through the establishment of AGV kinematics model,backstepping controller is designed based on backstepping control theory.Then the Lyapunov function is used in the stability analysis to ensure that the tracking error converges to zero asymptotically.Through simulation and analysis on the algorithm,the tracking trajectory converges to the desired trajectory.The result shows that the method can reach a satisfied control performance.