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Research On Omnidirectional AGV Structure Design And Tracking Control

Posted on:2021-05-31Degree:MasterType:Thesis
Country:ChinaCandidate:Y YangFull Text:PDF
GTID:2428330611989539Subject:Mechanical engineering
Abstract/Summary:PDF Full Text Request
As a kind of conveying device with high degree of automation,good safety and high efficiency,Automated Guided Vehicle(AGV)is widely used in modern logistics warehousing and manufacturing.The research goal of this paper is based on visual guidance technology,using low cost,high flexibility,strong bearing capacity as the driving system to develop an all-round mobile AGV that is suitable for outdoor handling.The transport device takes into account the requirements of cost,efficiency and service life of outdoor transport,and has certain engineering application value.First,for the problems of single tracking error information obtained by the traditional guidance method adopted by the outdoor AGV and the high cost of the drive system based on Mecanum wheels,the overall scheme was designed according to the modular design concept,and the frame structure and guidance were completed Design and selection of mechanism,power system,control system,navigation system and safety protection system.Secondly,establish the kinematics model of the whole vehicle,and on the basis of the error analysis between the two points,establish the mathematical model of the error between the actual posture and the ideal trajectory of the whole vehicle.In addition,for the guidance trajectories of straight line segments and circular arc segments,the process of acquiring the pose error of the vision system is analyzed.Thirdly,on the basis of kinematics and error model,a trajectory tracking control scheme was formulated.The scheme adopts a composite control strategy.Through the switching of thresholds,the large and small errors are corrected by multiple fuzzy controllers and fuzzy PID controllers respectively,and the effectiveness of the composite controller design is verified by software simulation.Finally,according to the overall design plan,build an omnidirectional AGV mobile platform,and test the performance of the AGV prototype designed in terms of output performance,path guidance,and correction.
Keywords/Search Tags:Automatic guided vehicle, visual guidance, full steering guidance, path tracking
PDF Full Text Request
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