Research On Modeling And Trajectory Tracking Control Method Of Different Types Of AGV

AGV(Automated Guided Vehicle),is one of the important equipment in modern industrial automation systems.Presently,owing to various demands for AGV in different fields,a variety of types of AGV spring up in the market.Types of AGV have different chassis structures because of the distinct load requirements and operation modes.And there' s no doubt that they have certain differences in path planning and chassis modeling.In order to reduce the costs of developing and maintaining different types of AGV,this paper brings up a model which is apply to different chassis structures,and a control strategy of trajectory tracking.This paper is carried out as follows:1.As to the problems and limitations of the typical chassis modeling method and its velocity decomposition and composition method,this paper establishes a model for the movement characteristics of different chassis structures,that is,generalizing configuration of wheels into four types,namely,S(Steering),D(Driving),SD(Steering-Driving)and SDD(Steering-Driving-Driving).And then a velocity decomposition and composition method based on this model is figured out.Furthermore,a comparison of the velocity composition between the mentioned method and the typical method is made to verify the validity of this model as well as the advantages of corresponding method of velocity decomposition.2.This paper specifies the requirements of AGV in path planning,elaborates the complexity and proposes a strategy of path planning which is apply to different chassis structures.In the process,the first step is to configure properties of nodes and edges to solve the problems of AGV velocity,rotatability,and the requirements of customized path.Then,the WOP(Way Of Pass)method is brought up to solve the common problem of different types of AGV's motion in the path.In addition,the UPL(Uniform Position Locator)is proposed to efficiently show the current location and position of AGV with WOP.The final step is to test route planning of three different types of AGV in the map,which proves the effectiveness of the strategy of path planning.3.An adaptive integrated control technology scheme befitting the chassis model and path is designed to control the AGV in trajectory tracking,which meet the needs proposed by the property configuration and velocity decomposition of chassis.In addition,this technology scheme is used to analyze the deviation of trajectory tracking and give solutions and then improvements are raised accordingly.4.The method put forward in this paper is synthetically applied.A trajectory tracking experi-ment is carried out on two types of AGV in the simulated and real environment respectively.And the effectiveness of the suggested method is proved by the experiments.