Research And Design Of Motion Control System Based On Visual Navigation AGV

With the rapid development of manufacturing and logistics,AGV(Automated Guided Vehicle),as an important carrier of automatic storage system and intelligent logistics system,has a wide range of application prospects.Compared with other AGV navigation methods,visual navigation has become a research hotspot in the field of navigation with advantages such as low hardware cost,accurate positioning and flexible paths.This article takes the intelligent manufacturing workshop as the application scenario and conducts in-depth research on the motion control system of visual navigation AGV.The main contents are as follows:First,the overall design of the AGV motion control system is carried out.Based on the application scenarios of the subject,the functional requirements of the motion control system are analyzed,the AGV experimental platform is designed and the overall scheme design of the motion control system is completed.Secondly,the visual positioning algorithm was designed,which includes image preprocessing,feature point detection,landmark decoding and location solving.Aiming at the feature point detection of landmarks,the feature point detection method based on contour curve was studied and two contour detection algorithms based on binary map and edge clustering were designed.In order to improve the stability of road sign decoding by changes in light,a method for selecting the threshold of the identification coding unit was designed.Based on this,a position solving algorithm based on landmark coding rules and the principle of mean value is proposed,which improves the accuracy of position solving.Then,the PID parameter self-tuning method based on fuzzy control was studied.An AGV path tracking error model was established,and a fuzzy PID and a conventional PID simulation model were established through the Matlab simulation system.The advantages and disadvantages of the two control methods were compared through simulation experiments.Finally,implement the function of the motion control system.Based on the TMS320DM8148 high-performance multi-core video processor,the hardware platform selection and external device interface circuit design were completed.Combining the performance advantages of ARM and DSP processors,the software system framework of the motion control system was built,and the implementation of visual positioning,path tracking algorithms,and other functional modules were designed.