Design And Implementation Of Double Steering AGV Parking Control System

At present,the resident car ownership in China is very large,the problem of parking is reflected in all parts of the country,the market has also launched a variety of intelligent parking lot.Automated Guided Vehicle(AGV)is a kind of automation equipment widely used in industrial production,warehousing and logistics.Its basic work is to drive along the designed route in the working environment,and along the way in the designated work points to achieve cargo handling or stacking,that is,according to the specified requirements to complete the repeated specified work.So the development of AGV has taken another step towards the parking field,that is,the car is parked at a certain point,and the AGV takes the initiative to carry.In this way,the automatic process of parking and picking up the car is realized.At the same time,there is no need to reserve more driveways and open door space in the garage,which greatly increases the utilization rate of the garage space.In this paper,the dual-steering AGV is taken as the research object,and the tracking control method of the AGV is researched and realized.Combined with the garage environment debugging,the automatic stopping and taking function of the vehicle is realized.First of all,starting from the working process of parking AGV system,in-depth analysis of the demand of the system,the design of AGV car body framework,adopt double wheel plus four universal wheel structure,analyze the AGV system's functional requirements,combined with field environment and facilities,the overall design plan for each function module of hardware to,complete the overall design of the AGV.Secondly,according to the dual steering wheel AGV car model selected in the scheme,it is taken as the research object to analyze the AGV motion form of the dual steering wheel scheme and study its steering motion and other advantages.By simplifying the model structure,the kinematics model of the dual steering wheel automatic steering vehicle was established.The relationship between the overall motion state of the vehicle and the driving speed and steering Angle of the two steering wheels was studied.The motion trajectory of the AGV was designed based on the characteristics of the Bezier curve.Third,this paper set up double wheel of AGV based motion model analysis,establish proper prediction model,combining with the system design corresponding to the constraints of the objective function,based on model predictive control has completed the double wheel AGV trajectory tracking controller is designed,and the MATLAB simulation,to verify the designed trajectory tracking controller tracking effect can reach the expected goal.Finally,combined with the overall design of the AGV system,the hardware and software of each part of the system are designed to realize the high precision positioning and trajectory tracking of the AGV control system,and prove the strong robustness and high timeliness of the model predictive control in the application of trajectory tracking.