Research On AGV Universal Control System Design And Navigation Technology

Mobile robot AGV has more and more applications in various industries,and its motion and navigation methods are also very diverse,while the motion and navigation modes of domestic controllers are relatively simple.This topic is based on the improvement of a certain type of industrial motion controller,and designed an AGV universal controller that can be applied to different walking modes,various motor drives,multiple navigation modes and complex scheduling functions.With regard to the research of AGV control system,this paper firstly investigates the current application status of AGV research at home and abroad,and analyzes the necessity and feasibility of the research design of AGV universal control system.In this paper,the architecture design and implementation of the AGV general control system are discussed in detail.The system layered analysis summarizes the functions of various modules,and the complicated data stream transmission between the layers is completed.The implemented system is only required for downstream users in peripheral devices.When the model is selected,the configuration software can be used to set and debug the controller to run stably.Then the detailed research and design of the motion control unit is carried out,the coordinate system is established,the common AGV walking mode is modeled and analyzed,and the underlying program is written,and the accuracy of the forward and reverse solutions is verified to verify the kinematics equation;the two types of motors are added.The model is studied and analyzed based on the double closed loop control effect.The fuzzy adaptive PID design is used to improve the vehicle motion control.The vehicle speed is divided into two dimensions: absolute value and direction angle.The algorithm is designed and simulated..The AGV universal control system scheme designed in this paper greatly improves the speed and stability of the AGV design.Based on the rapid prototyping experiment and magnetic navigation and laser navigation application test experiments of this system,the superior performance of system architecture and motion control is verified.