Research On AGV Dynamic Obstacle Avoidance Algorithm For Visual Linear Navigation

As an intelligent robot with cargo handling capacity,AGV has been successfully applied in warehousing,logistics,transportation,production and other industries,which has improved the work efficiency of enterprises.In order to ensure the AGV in the working process of the driving safety and work efficiency,AGV should have the ability to avoid obstacles,and the current existing obstacle avoidance strategy is to set a safe distance,when the relative distance between the AGV with obstacles is less than the value when they need AGV parking,but when an obstacle for sports,AGV can appear as the changing of the distance between the obstacle and appear the phenomenon of the stop when the.Obviously,this method reduces the production efficiency of enterprises.In order to solve this phenomenon,this paper proposes a strategy to avoid dynamic obstacles according to the actual driving environment of AGV.By reducing unnecessary parking of AGV,the production efficiency of enterprises can be improved.First of all,in order to ensure the safety of AGV car body thesis by analyzing the AGV obstacle avoidance situation,obstacle avoidance process,the AGV and the relative distance and relative speed between the dynamic obstacles as the main factors influencing the AGV obstacle avoidance Angle,so as to establish a prediction AGV with dynamic obstacles based on relative distance can control AGV Angle model of obstacle avoidance.Second,to establish a kind of AGV based on fuzzy reasoning algorithm of obstacle avoidance corner fuzzy controller,the AGV and the relative distance and relative speed between the dynamic obstacles as the controller input variable,obstacle avoidance of AGV rotation degree as the controller output variables,through the establishment of the AGV obstacle avoidance Angle control model to determine the controller of fuzzy rules,and establish a fuzzy controller and AGV Angle of obstacle avoidance and the input and output variables of AGV obstacle avoidance corner adaptive fuzzy neural network controller,and the adaptive neural network fuzzy controller for a certain number of training and testing,The reasonable fuzzy subset and fuzzy rule of membership function are obtained.Finally,set up the AGV control model,AGV obstacle avoidance obstacle avoidance corner corner Angle adaptive fuzzy controller,the AGV obstacle avoidance simulation with neural network fuzzy controller model respectively,the results show that the three are to achieve the purpose of obstacle avoidance,but AGV fuzzy controller,AGV obstacle avoidance obstacleavoidance corner corner adaptive neural network fuzzy controller can solve the AGV in obstacle avoidance process,and AGV obstacle avoidance corner adaptive neural network fuzzy controller can better reduce the AGV with dynamic obstacles when the center distance of obstacle avoidance,so as to improve the accuracy of obstacle avoidance of AGV.