Technology Research On The Motion Control Of Omnidirectional AGV Based On Mecanum Wheel

Combining the automatic transportation and installation requirements of a large device with mobile robots which now widely used in warehousing, logistics, manufacturing, assembly and other production activities, designed an omnidirectional AGV experiment system. The AGV can move in any direction within a plane, rotate with an arbitrary radius, it's ideal for working in the narrow and limited place which need high mobility. This thesis apply the omnidirectional moving mechanism based on mecanum wheel, uses the advanced laser positioning and navigation technology in current, researches on the system basis and related implementation of AGV motion control. Finally reach the preliminary requirements of AGV positioning and automatic navigation. In modern manufacturing activities, as a special usage in mobile robot, omnidirectional AGV is an important part of flexible manufacturing,assembly and modern logistics system. With the development of science and technology in various fields, the technology of its motion control has also achieved rapid development, it will be applied to more and more occasions. The main researches of this thesis are as follows:(1)Research on the control system of omnidirectional AGV. According to the requirements of moving mechanism and motion control performance, establish a closed-loop control structure based on the laser navigator, and research on speed servo control of single motor. Introduce the key hardware performance of control system.(2) Use laser global positioning technology, introduce the laser navigation composition and laser positioning algorithm principle. Establish the laser navigation system in the laboratory and create the global environment map model, study the grid map building method. Then research on the path planning method in environment based on the A * algorithm and conduct simulation.(3)Carry out omnidirectional AGV kinematics analysis and establish its kinematic model. On this basis, plan the process of AGV trajectory following control, study the basic principle of fuzzy control and design a fuzzy controller. Apply the software of MATLAB to simulate the following control of path segments.(4)According to the requirements of the motion control system, design motion control programs and HMI, Achieve a variety of functions of omnidirectional AGV systems, such as real-time display of status and data, graphical representation, parameter setting, communication and varieties of motion operating modes. And conduct a preliminary experimental analysis on the equipment developed by laboratory.