Design And Development Of Omnidirectional Mobile AGV Motion Control System

In recent years,the development of manufacturing industry has entered a new era,intelligent and flexible logistics management mode has become the mainstream,AGV(automated guided vehicle),as the key equipment of modern logistics,has been widely developed.In the automatic logistics transportation,AGV can complete the corresponding distribution tasks according to the pre-determined driving path according to the received instructions,which has higher work efficiency than the traditional manual distribution mode.Limited by the narrow and crowded working environment,the traditional two wheel differential AGV is not ideal in some situations.To solve these problems,omnidirectional mobile AGV based on Mecanum wheel is gradually recognized by people,and has been widely studied and developed.This thesis designs and develops the motion control system of omni-directional AGV based on Mecanum wheel:Firstly,this thesis describes the background and significance of this thesis,briefly introduces the key technologies of AGV research,and analyzes the research status and application status of Mecanum wheeled omnidirectional mobile AGV.Secondly,the overall design of the motion control system of omnidirectional mobile AGV is completed.Thirdly,the key technologies of omnidirectional mobile AGV are studied,including kinematics modeling,path planning and fuzzy PID controller design.Then,the hardware and software design and implementation of omni-directional AGV motion control system are completed.In terms of hardware,the schematic design of each functional module and the design and production of printed circuit board are completed.In terms of software,the hierarchical architecture and object-oriented idea are used to design the software of the lower computer,a set of efficient and reliable serial communication protocol is designed,and the upper computer software is developed by using QT graphical interface library.Finally,the test platform of omni-directional mobile AGV is built,and the related test of omni-directional mobile AGV prototype is carried out.The test results show that the motion control system designed in this thesis can meet the basic functional requirements and performance requirements.