Model Construction And Implementation Based On Multi-AGV Collaborative Transport

With the increasing use of single AGV in logistics and transportation,the demand for multi-AGV coordinated handling in industrial production is beginning to emerge.Based on the construction and implementation of multi-AGV cooperative handling model,this paper focus on three main aspects:collaborative formation control,coordinated motion algorithm and multi-sensor information analysis and communication.For the formation control problem of multi-AGV cooperative handling,under the condition that the physical states of the AGVs in the coordinated formation finally become consistent,the AGV cooperative system consistency protocol is obtained,which is transformed into distributed by Laplace transform.The design problem of the PID formation retainer.This kind of problem is classified into the general complex coefficient linear equation,and the recursive formula and the formation stability criterion of the control parameters of the system are obtained.The triangle formation is selected for experimental simulation,and its complex matrix M and its corresponding eigenvalues are obtained,and then the inequalities of the control parameters k_l?k_m and k_n are solved.The simulation results of two different control parameters are obtained from the positive and negative The aspect verifies the validity of the formation retainer and control parameters,thus facilitating the control of the later coordinated experimental formation.An AGV optimal path correction algorithm based on master-slave cooperative control is proposed.First,a kinematic model and a wheel speed distribution equation are established for the omnidirectional mobile AGV.The AGV path trajectory error under visual guidance is modeled,and an independent correction equation with three degrees of freedom is obtained.According to the distance between the AGV and the angular error geometric relationship under the master-slave motion model,it is unified into the correction equation to obtain the master-slave AGV.The respective path correction algorithm.At the same time,the optimal path control based on multi-step motion prediction is proposed.The Lagrangian minimum energy value is introduced,and the discrete form containing only the control quantity is obtained in the objective function.The analytical expression of the speed difference control quantity satisfying the minimum value is derived.The optimal number of steps results,the simulation results show that the initial deviation state can always converge to zero within the selected number of steps.Aiming at the information flow generated in the multi-AGV cooperative handling system,a multi-level information structure system is proposed to optimize and analyze the data transmission between different levels.For the upper layer information transmission,the limitation of wireless network communication must be adopted,and the network topology structure(CBRP)of the on-demand routing Ad-Hoc based on the cluster structure is constructed,which can obtain three performance indexes:effective transmission amount,packet loss rate and delay.In order to verify the comprehensive effect of the above research,a multi-AGV cooperative handling experimental system was developed.The experimental results show that the proposed control algorithm can effectively make the multi-AGV move stably along the preset trajectory with a fixed formation.Finally,the research content of this paper is summarized,and the content of further research is prospected.