Reasearch Of Magnetic Navigation AGV Based On Inertia With Attitude Self-check Function

Automated guided vehicle(AGV)is a kind of wheeled mobile robot,which is a kind of highly flexible product.Nowadays,it has been widely used in factory automated production lines,docks,warehouses and other occasions that require a lot of handling work.With the large-scale application of AGVs in the industrial field and the rapid development of related technologies,the traditional fixed-path navigation AGVs have gradually failed to meet the needs of the industry due to their simple functions and low control precision.Such as laser navigation,visual navigation and inertial navigation AGVs are difficult to implement due to their high cost and are not widely used.In this paper,through the installation of low-cost inertial components in the original magnetic navigation AGV,a kind of magnetic navigation AGV with attitude self-checking function is developed.This kind of integrated navigation method is used to improve AGV'S path tracking accuracy and rectification capabilities without significantly increasing the cost,and creates a low-cost high-performance AGV experimental platform.This paper first analyzes the kinematics of AGV.According to the characteristics of magnetic navigation,this paper summarizes the kinematics model of AGV based on path tracking deviation.By using the fuzzy control theory,the AGV tracking motion fuzzy controller is designed and used to automatically drive the AGV along the magnetic stripe path to improve its path tracking accuracy.Then,a low-cost inertial components was used to build the AGV inertial information feedback system to enable AGV to obtain its own attitude information.Through the research of multi-sensor information fusion technology,the advantages and disadvantages of several filtering methods were compared,and relevant simulation analysis was performed.In addition,the specific implementation process of complementary filtering methods used in this system is described in detail.Then the paper completed the software design of the inertial information feedback system,elaborated the concrete process of its communication with the motion control system,so as to realize the basic functions of this system.So that the AGV can detect its own attitude in real time,and can perform derailment return and abnormal posture detection and so on.After completing the installation and commissioning of the AGV inertial information feedback system,relevant experiments were conducted to verify whether the various AGV performance indicators met the standards.