Design Of Automatic Transport Vehicle And Its Path Planning Realization

As the labor costs are rising continually,the traditional transport vehicles have been unable to meet the requirements of high productivity.Because of the high efficiency,strong adaptability and some other characteristics,the automatic transport vehicles are being applied to kinds of indoor environment.Based on the investigation of automatic transport vehicles' development at home and abroad,this paper designed an automatic transport vehicle,come up with a path planning algorithm.According to the requirements of the design,this paper designed every module for the automatic transport vehicle,and developed an automatic transport vehicle with differential steering and Robin van magnetic navigation function.And this paper focuses on introducing the drive assembly of automatic guided vehicle,analysis of motion model,the main control circuit and the control program.The core control board of the automatic transportation vehicle takes C8051F410 single chip microcomputer as the processor.The magnetic sensor can complete the data acquisition and sent the data to the main control chip for processing.According to the state of sensor,the main control chip will use the Curtis drive to control the motor.The control procedure of the automatic transport vehicle is mainly the variable proportion coefficient PID algorithm and the intersection direction selection algorithm.And then,on this basis,the paper focuses on the implementation method of path planning,and how to control the automatic transport vehicle to complete the task in accordance with the planned path.In order to minimize the waiting time at the intersection,this paper analyzes the application of the fuzzy control strategy in the vehicle.The control strategy can guide the vehicle to transport the goods through the crossroads according to the order of priority.To a certain extent,this method can reduce the transport car blocking at the intersection.The test results of each function show the vehicles can complete tasks of transport based on the path of the host machine.All the performance can meet the requirements during the transport car moving.The results show that the whole design scheme is feasible.