Research On The Omni-directional AGV System And The Technology Of Guidance And Obstacle Avoidance

With the development of science and technology,a kind of intelligent handling equipment are increasingly demanded,which can help handle heavy and tedious carrier works.Automated guided vehicle is developed under this circumstance.Nowadays,AGV has been widely used in the field of logistics,storage and assembly manufacturing.The study of AGV has already aroused attention of the experts at home and abroad.Study in AGV involves widespread domain and various disciplines.The paper makes a more in-depth study of the theory of guidance obstacle avoidance systems.The error sources of traditional ultrasonic positioning system is discussed based on the error measurement of ultrasonic attenuation in the air,and in addition,a automatic following ultrasonic positioning system is purposed which not only improves the positioning precision also reduce blind area.According to this,accurate and robust indoor positioning can be delivered to AGV.the grid map and ant colony algorithm is chosen after comparing various digital map construction projects and path planning algorithm.Tow parts of the algorithm are modified,one improves the convergence rate of searching the shortest route,and the other one decreases the running time.SICK_TIM₃51 laser scanner is chosen,used to detect the obstacle around AGV.A-Star Algorithm is programed on STM32F407VET6 micro-controller unit to complete the local quick path planning.And then the speed of Mecanum wheel is calculated based on the Discovery Q2 kinematics equation connected with the local path planning,after that the obstacle avoidance is done.Positioning and obstacle avoidance system are built on Discovery Q2 simulation platform,and the whole program is written on the MCU of the controller.Based on that,Discovery Q2 simulation platform can complete the guidance and obstacle avoidance of AGV and can ensure the stable and smooth operation.