Research On Path Planning And Motion Control Of AGV

With the adjustment of national economic structure and the transformation and upgrading of industrial structure,intelligent industrial robot industry has ushered in important development opportunities.AGV(Automated Guided Vehicle)is an important part of modern intelligent logistics system,which can greatly reduce artificial operations by traveling and moving goods along prescribed routes through automatic guidance devices.Therefore,strengthening AGV research has important theoretical significance and practical application value.Based on the research background of intelligent logistics warehouse,this paper adopts two-dimensional code navigation technology.This paper analyzes how AGV chooses the optimal path in the logistics warehouse in the case of multiple paths and the reason why AGV operates inefficiently in the logistics warehouse and the control effect is not ideal.Compared with the traditional path planning and motion control methods,this paper proposes a multi-algorithm fusion adaptive algorithm to solve the problem of AGV path planning in warehouse logistics.In the aspect of motion control,this paper realizes the AGV controller design by using fuzzy PID control technology,so as to achieve the pose tracking control of AGV.Firstly,the location information of a warehouse path is stored according to the storage characteristics of the qr code.The system environment is then modeled for the warehouse.The continuous space is discretized by grid method and topology method,which greatly reduces the amount of data transmission.Secondly combining the classical shortest path algorithm and the actual warehouse environment model,three different AGV shortest path algorithms are obtained.The influence of complexity of environment on the application range of each algorithm is studied according to the actual environment map with different sizes,types and demands.Design adaptive path planning algorithm,and carry out experiments through Matlab.Then,kinematic modeling of AGV is carried out.An adaptive fuzzy PID controller isdesigned based on fuzzy control algorithm and PID control algorithm.By MATLAB/SIMULINK simulation,the controller can realize fast and effective control of step signals.Then aiming at the technical difficulties in motion control and the problems of accuracy,safety and smoothness of turning control,an innovative scheme of three-phase trajectory is proposed.This paper analyzes the inapplicability of the scheme in the requirement of efficient and rapid turn and the feasibility of corner segmentation and piecewise error compensation when efficient and rapid turns are not required.Finally,the AGV motion control experiment platform was designed and built.A linear reference path was laid in the laboratory for AGV motion control experiments.The collected data and images were analyzed.