| With the rapid development of industrialization,AGV(Automatic Guidance Vehicle)has been widely used in all walks of life,with rapid development and huge potential.The key and foundation for studying AGV is navigation technology.Traditional guidance technology has high requirements for environment and insufficient guidance flexibility.This paper presents an AGV control system based on UWB(Ultra Wide Band)indoor positioning technology,and studies the system.The main contents of this paper are as follows:(1)Several commonly used wireless positioning methods are analyzed,and their implementation principles and methods are studied.The asynchronous bidirectional ranging method based on UWB and realized by UWB technology is introduced.The positioning method of AGV is deduced by combining with positioning algorithm,and a compensation method is proposed for the errors of positioning results,which provides a theoretical basis for the navigation of AGV.(2)A path planning method based on weighted A* algorithm is proposed.A path planning scheme with path weighting and turning weighting is proposed to solve the problem of different road conditions in the actual environment,which effectively improves the operating efficiency of AGV.(3)Fuzzy-PID controller is used in the control method.By setting the proportional coefficient,integral coefficient and differential coefficient of PID controller at different time,the control precision of AGV system is greatly improved.(4)With STM32F407 as the hardware core of AGV control system,the car navigation system was designed by uC/os-II operating system and verified by experiments.The AGV system has perfect functions,high guiding flexibility,simple and practical,safe and stable,and has high practical value. |
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