The Design Of Parking AGV Control System And Path Planning

In order to solve the parking difficulties brought about by the rapid development of the city,an intelligent and mechanized parking technology and equipment are proposed.That is,the differential drive control guide car test system with the single-chip microcomputer as its core uses the relevant peripheral sensors to enable the AGV car to perform steering,forward,and backward control of the car body along the set track,and enables the AGV car to be already Known map environment automatically plans the optimal working path.This article focuses on parking AGV control system design and path planning as the key research direction.After full investigation and combined with current actual needs,the main research content of this paper has been established.The main content of the paper is as follows.The overall design of the AGV control system is firstly designed,including the analysis of the motion mechanism of the AGV,the design of the body composition of the AGV,and the control of the motor drive.Among them,the relevant AGV related parameters and kinematics modeling were analyzed.By comparing the common driving methods of the motor,the motor drive design scheme of this paper is determined.At the same time,the commonly used guidance methods are listed and compared.For the hardware design of the AGV control system,selection analysis and circuit design are performed around the guide controller,peripheral sensors,communication units,and power supply modules.PCB fabrication and debugging with Altium Designer software.Then the AGV guidance control is analyzed in detail.Firstly,the design of the closedloop control system of the motor is emphasized.At the same time,the simulation experiment of the speed and position control of the motor is given under the step input response.The classical PID algorithm and P+ feedforward control algorithm in the motor drive are given detailed analysis.At the same time,the nonlinear input simulation and experiment are completed for the AGV under the P+ feedforward control algorithm,and the corresponding simulation and experimental results are given.Finally,the realization of the tape guide of AGV and the rectification are analyzed.Aiming at the path search of AGV,this paper first gives a preliminary theoretical analysis of this type of problem,and introduces related search algorithms.In the context of parking AGV being suitable for static environment,it first gives a detailed analysis of the establishment of AGV electronic map.And introduce the AGV path planning process.Later,A* algorithm and BFS algorithm that are suitable for known environment are compared horizontally,and then the defects of A* algorithm are improved and perfected.Finally,this paper mainly elaborates the path planning of AGV based on grid modeling combined with “segment+smoothing A* algorithm”.The specific experimental flow,simulation verification and data analysis are given in the article until AGV is in effective time.Quickly and accurately search out the best feasible path,and ensure the continuity of its operation,and then improve the efficiency of AGV.Finally,relevant experiments on the main research contents involved in AGV are carried out,and a simple reliability analysis is performed on the working status of each sensor and the overall control system.This ensures the reliability of the system’s hardware design.The drive control and path planning tests were conducted through the parking control system,which verified that the system can be controlled steadily under the anticipated environment and engineering requirements and can plan relatively ideal paths.