Research On AGV Visual Guidance And Path Planning Strategy

Path planning control and scheduling method is the key technology of AGV design.A perfect AGV system needs to meet the needs of accurate positioning,rapid response and timely handling of various emergent problems.And provide the most reasonable planning path for each AGV.This paper focuses on the key technical issues of AGV,and the main research contents are as follows:Firstly,aiming at the shortcomings of ant colony algorithm,an alternate pheromone updating strategy is proposed,and chaos factor is added in the pheromone updating process,so as to improve the escape ability of the algorithm.In addition,simulation experiments are carried out to verify that the algorithm can quickly plan out the appropriate optimal solution in the complex environment.Secondly,the scheduling problem of multi-AGV system is studied,and the resolution strategy is provided for the common conflict types.On this basis,the methods of real-time scheduling and local path planning for AGV systems are presented,and the key technologies and system prototypes of hardware part,path optimization algorithm and software scheduling related functions are described.Thirdly,according to the requirements of AGV vision guidance,the relevant algorithms of image processing in machine vision are studied,and a path contour identification algorithm based on progressive Hough transform is proposed,which can improve the identification speed while ensuring the recognition accuracy,and the effectiveness of the algorithm is verified by experiments.Finally,on the basis of analyzing the structure characteristics of AGV of dual drive differential gear train and the relative motion relation of the path,the AGV kinematics model is established,and the transfer function and state space model of the drive system are derived and calculated.MPC control algorithm was applied to track AGV path,distance deviation and Angle deviation were selected as the input of the controller,and the actual speed of the car driving wheel was taken as the output.A trajectory tracking controller based on model predictive control was designed,and the performance simulation analysis was carried out with the classical PID control in MATLAB environment.Results show that the improved controller has higher control precision.