| AGV(Automated Guided Vehicle)is unmanned automatic guided vehicle,which can drive along the prescribed path.It is widely used in logistics,electronics,automotive,aerospace,electrical household appliances industry.AGV can greatly improve production efficiency and reduce labor costs.Due to the late start of the domestic AGV industry,we should admit the lack of independent research and development of AGV technology,the core technology is still subject to foreign countries,so the cost of AGV is expensive.At the same time,the magnetic stripe navigation AGV and laser navigation AGV have much requirements on the work site requirements,which greatly limits the development of the domestic AGV industry.Navigation and path planning is the core technology of AGV.In this paper,we study the AGV navigation and path planning technology based on the magnetic pin array.Firstly,this paper summarizes the current development of AGV at home and abroad,and then introduces the design of AGV control system.Then,analysised of the advantages and disadvantages of common methods of navigation,established six-wheel differential type AGV kinematics model,analysised the model,proposed a low cost AGV navigation system based on magnetic pin array and put forward error correction algorithm based on Calman filter.In order too study the problem of AGV path planning under the established model of pin array magnetic map site,other factor is introduced based on the characteristics of AGV based on traditional A* algorithm,then proposed a path planning algorithm based on improved A* algorithm.For multi vehicle problem,put forward the path planning algorithm based on directed graph,analysised the conflict problem of multi vehicle systems in a conflict model and put forward the time window algorithm to solve the conflict.Finally,the result of software simulation showed that the proposed methods are feasible,and the field experiment comfirmed the precision of the magntic nail navigation system. |
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