Research On AGV Location And Path Planning Based On IR-UWB

Along with the development needs of the manufacturing,warehousing and logistics industry automation,information technology,intelligent,the automatic guided vehicle(AGV)play an increasingly important role,has been widely used in various fields,and has become a hot topic of research.Aiming at the AGV of high precision is cost much and the AGV of low precision has a large amount of problems about poor environmental adaptability,studied on the AGV positioning location which is used the technology of IR-UWB wireless sensor network and the technology of path planning based on AGV system platform,and finally carried out the system test.The main contents are as follows:1.Contrast the technology of indoor positioning and navigation systematic.Investigate and survey the guidance technology AGV of domestic and foreign,summarizes and analyzes the advantages and disadvantages of the technology of navigation used in common,putting forward a scheme of wireless sensor network which is used IR-UWB technology as AGV indoor mode of positioning and navigation.2.Research the technology of ranging and localization in the used of wireless sensor networks.Analysis the ranging technology of RSSI,TOF,the positioning technology of TDOA,AOA and TOA.According to sources error of ranging and localization process proposed the reduce method,research ranging method of SDS-TWR which is used the signal spread time between the base station and mobile station to determine the distance between them,and then using TOA positioning algorithm to locate the mobile station.3.Design the guidance controller using the technology of fuzzy PID.Establishing the mathematical model of the AGV,and carrying out analysis the walking control of it,then designing the control guidance.Finally,carrying out the simulation by using MATLAB/Simulink.4.Study on path planning technology based on A*algorithm.Firstly build the model of the warehouse environment by grid method,simulation the information of the warehouse shelves,obstacles and goods,construct the environment map of the warehouse,and then using A*algorithm as path planning algorithm,using euclidean distance as evaluation function,setting path planning of AGV walking used target to walk the shortest distance to reduce the number of turn,and avoid obstacles.Lastly carrying out simulation of the set path planning.5.Set up the system platform of AGV,and carried out the experimental investigation.Integrate positioning module of IR-UWB,ultrasonic sensor,attitude sensor and micro controller module,designing the execution unit of AGV,control unit and the detection unit,in order to build the platform of positioning guide,realizing the ranging and positioning function of AGV in warehouse environments.Finally make the test on the basic of the control platform.The experiments show that the error of the mean value between the actual distance and ranging distance is less than 50 mm in static ranging experiments,the positioning error of static positioning experiments is less than 50 mm,the positioning accuracy of dynamic positioning experiments are 85 mm,can obtain high positional accuracy and meet the requirements of practical application.