Intelligent Control Technology For The Omni-directional Mobile AGV

With modern manufacturing industry to develop in the direction of intelligent, automatic guided vehicles(AGV, Automated Guided Vehicle) as a modern intelligent manufacturing system in one of the important logistics automation conveying equipment is widely used in modern manufacturing industry. As the manufacture of industry scale, production efficiency and intelligent level has greatly improved, it has the important practical significance to develop with high flexibility, high stability,high execution efficiency of the intelligent controled equipment of AGV.Firstly, this paper in view the demands of flexibility for the important equipment such as AGV and proposes the research and development of the omni-directional mobile AGV which on the basis of the omni-directional mobile platform. Select the Mecanum wheel as the omni-directional mobile wheel of the omni-directional mobile AGV. Analyze and design the four round Mecanum wheel omni-directional mobile platform structure system and realize the platform to complete related functions of the full range of mobile.Secondly, compared with the existing methods of intelligent control, the fusion multiple fuzzy controllers method based on fuzzy control technology is proposed. Based on the researches and experiments of different methods of path tracking, a set of rules for fuzzy control path tracking and controls for the distance deviation, the angle deviation as well as their change rate and so on and the related data of the fuzzy processing, the fuzzy inference and the output clear are developed. It avoids a large number of accurate processing error caused by the AGV system to adjust the instability and other issues. Acquiring a number of variables of AGV in the path tracking process, citing different variables as input to generate multiple fuzzy controllers. Multiple variables and fuzzy controller with certain control rules to be integrated. In order to achieve the effect of intelligent control and verified the effectiveness of the method by the simulation analysis.Finally, based on the above theoretical research, acquires path information by CCD camera and adopts the embedded system to complete the path information processing and AGV motion control. A number of experimental results show that the fuzzy control method can make the omni-directional mobile AGV working more stable, more efficient and more intelligent.