Research On AGV Indoor Navigation And Control Technology Based On UWB Wireless Location Technology

AGV(Automated Guided Vehicle)robots play an important role in the development of industrial production,logistics and warehousing industries.However,existing AGV navigation methods are mostly based on fixed magnet wire,RFID radio frequency tags,lasers,and visual guidance methods,unable to adapt to a complex and changeable working environment.With the development of UWB wireless positioning technology,UWB wireless positioning technology has achieved an ideal positioning effect in workplaces such as factories,warehouses,tunnels,and power plants.Therefore,the disadvantages and shortcomings of traditional AGV robots in navigation methods are addressed in this paper.Researched and designed AGV robot based on UWB wireless positioning technology.This paper first analyzes and establishes the kinematics model of the wheeled mobile robot,deeply studies the motion control algorithm,and analyzes the role of the traditional control theory in the linear and time-invariant controlled system.Aiming at the nonlinear and time-varying controlled systems,a dual neuron PID based on the quadratic performance index was designed by combining the traditional control method with the neural network's powerful nonlinear mapping and self-learning ability on the two-wheeled differential structure mobile robot model.The controller and the motion control algorithm are implemented on the STM32F407 embedded processor.The control performance index meets the requirements of the experiment,eliminating the cumbersome process of manually setting PID parameters.At the same time,the UWB wireless positioning algorithm was deeply studied and analyzed,and the interference factors in the positioning process were analyzed and studied.In the process of navigation for mobile robots,the integral cumulative error and gyro data drift phenomenon obtained by the inertial measurement unit when acquiring the robot attitude information,combined with the application of GPS direction finding technology in aircraft and ship navigation,proposes the position measurement of dual mobile nodes.And the method was modeled and analyzed.At the same time,the environment perception,map construction and path planning algorithms needed for robot navigation are studied in depth.Based on the actual work scene of AGV robot,an A~*search algorithm based on occupied grid map is designed.Finally,an experimental test platform was built to test the navigation system of the AGV robot control system.For the double mobile node attitude measurement system,the measurement results of the system are analyzed and compared through comparative experiments.The experimental results show that the method needs to be further improved in accuracy compared with traditional attitude measurement methods,but compared to traditional inertial measurements,there is no cumulative measurement error in the unit.The work in this paper also lays a foundation for the subsequent improvement of the accuracy of the UWB double-mobile attitude measurement system.