Research On AGV Control System Based On UWB Wireless Location

Driven by Industry 4.0,the concept and prototype of intelligent,informatization,platform gradually applied in various industrial fields and achieved good results.For most of today's automatic chemical plants,automated library,the use of traditional fixed-path guided AGV has been unable to meet the physical times of the mechanical needs of intelligent and information management model,to the need for a higher degree of autonomy planning autonomy AGV.This paper mainly studies a UWB wireless positioning system based on AGV control,the control system is composed of UWB integrated wireless positioning system,soft PLC vehicle control system is formed,the path planning method of multiple AGV analysis,the global path planning for AGV navigation,AGV can control the autonomous path planning and dynamic obstacle avoidance.This paper first studies several common indoor positioning technologies,and compares UWB positioning technology as the positioning scheme of this topic.For AGV applications,the author will be simplified as plane positioning model UWB space positioning model,select multiple redundant location information can be obtained in the same configuration,improve the positioning accuracy and anti-jamming;using the grid method to build a global static map,the map dimension encoding for one-dimensional array,according to the location label coordinate the XOR operation by the static map,was consistent with the global dynamic map the actual environment;the map information and AGV scheduling information through Modbus /TCP network to send up to soft PLC vehicle controller.On the basis of the above work to complete the car motion control program,including the realization of the A* algorithm for path planning,kinematics analysis was carried out on the AGV,get the relationship of the body geometry center speed with four wheel speed between the mother of Mckenna,and through the infrared obstacle avoidance sensor information acquisition to achieve local dynamic obstacle avoidance.The experimental environment is set up to verify the positioning accuracy,automatic routing and dynamic obstacle avoidance of AGV.The results show that AGV can achieve high positioning accuracy,and has good path planning and obstacle avoidance capability.