| Aiming at the demand for automatic transportation of large components in high-end equipment manufacturing industries such as aerospace and high-speed rail,solving the problem of the insufficient single AGV carrier capacity has become the key technology to be urgently addressed.Based on the requirement of large-scale component coordinated transportation,this paper designs and develops a multi-AGV coordinated transportation control system for large-component transport.Firstly,from the perspective of automatic and stable transportation of large parts,this paper builds a control model of dual AGV cooperative path tracking based on the Leader-Follower strategy.Based on the kinematics model of the omnidirectional AGV,combining the path correction model of AGV under the guidance of vision and the leader-follower formation correction model,the deviation models of Leader and Follower are obtained respectively;The Inversion Control Method with Lyapunov function is utilized,and a motion control model is established.At the same time,the non-linear model predictive control(NMPC)method is used to optimize the motion control variable of Leader and Follower.Based on the vision-guided dual AGV coordinated conveying path tracking,a special inertialguided Leader-Follower dual AGV coordinated control method based on the combination of twodimensional tag code recognition and inertial sensors is designed for special conditions where the guiding ribbon cannot be laid.The AGV coordinated motion control scheme is used to switch with the visual guidance in special cases.Based on the inertial navigation principle and two-dimensional tag code recognition,a dual AGV coordinated transportation system switching control process is designed;according to the inertial guidance of the dual AGV cooperative transportation system,A dual AGV synchronous lateral displacement control method is designed.Finally,a dual-AGV obstaclesynchronous side-shift avoidance strategy is constructed in combination with a laser obstacle scanner.Based on the foregoing research on the dual AGV collaborative transportation control technology,the exploration of the formation expansion of the multi-AGV coordinated transportation system is carried out.With the reference of the SSOS model,a multi-AGV collaboration system in which the above dual AGV collaborative system is used as a general navigation module is constructed,and the following AGVs’ motion control model is studied.In addition,aiming at the control optimization of the AGV monomers in the coordinated system,a sliding mode AGV dynamic control model based on RBF neural network approximation is established;and the validity of the dynamic model is verified by simulation.Finally,in order to verify the effectiveness of the above theoretical results,a dual AGV collaborative handling experimental platform is developed,and based on this,a comparative experiment of dual AGV path tracking with or without NMPC control,dual AGV inertial navigation synchronous side-shift experiments,and a simulation experiment of multi-AGV coordinated motion is performed.The experimental results show that the dual AGV cooperative handling path tracking based on NMPC control has better deviation convergence and smoothness of correction control,and the dual AGV inertial guidance synchronous side shift has good operational stability;and simulation experiment verifies that formation tracking of the following the AGV in the multi-AGV coordination formation can be performed stably and quickly. |
