Research And Implementation Of Automatic Guided Vehicle Based On STM3

With the development of social production and improvement of automation degree,the manufacturing put forward a higher demand for the automation of production logistics. The automatic guided vehicle is just developed to be an important field in such background. Path tracking control technology is a key technology among the researches of the automatic guided vehicle. Thus, how to effective control the automatic guided vehicle so that it can accurately track the path is very important.This paper uses a three-wheel structure with steering and driving in front wheel as mechanical platform of automated guided vehicle, and STM32F103VET6 microcontroller made by ST Microelectronics as core processor,and laser-guide as guide way. The research on control method of automated guided vehicle based on STM32 are completed on this platform. The main content of the study are as follows:(1) The motion control of automated guided vehicle is studied. The steering control and the speed control of AGV are analyzed, the programming of servo control and motor control based on STM32 are completed. The kinematic model of automated guided vehicle based on steering gear steering is established. The motion of automated guided vehicle is studied.(2)The triangulation positioning control method based on the laser guidance is designed. The principle of the laser-guided positioning method is introduced.The method of position and orientation calculating based on triangulation and the method used to judge the validity of anchor position are analyzed in detail.The program of the laser guided positioning method based on STM32 is designed.(3)The path tracking control method of automated guided vehicle is designed.The causes and the calculation of the error which is caused during the automated guided vehicle tracking path is analyzed in detail. The closed-loop control system based on the positioning error and the azimuth error is established. The simulation of the path tracking based on PID control and the simulation of the path tracking based on fuzzy control are focused on. A method that when the track path is straight, using PID control,and when it was Circular path, using fuzzy control is put forward. The program of the straight path tracking control method,the program of the circular path tracking control method and the program of tracking control based on STM32 are designed.(4)The experiment of the automatic guided vehicle is completed. The experiment shows that although there are many defects in the dense obstacles, it can satisfy therequirements of most indoor environments.As the research of this paper is done on the STM32-based laser guided vehicle platform, the new method is proposed to track the path and make a strong judgment on the locating point. In the research stage, it is timely and practical to test., Some of the methods in this paper and the corresponding conclusions are derived from the practice of the development stage, to this end, for the automatic guided guided vehicle R & D and design, with reference.