Design Of Forklift AGV Control System Based On Laser Navigation

With the rapid development of logistics and warehousing industries,higher requirements have been put forward for the automation and intelligence of handling tools.Forklift trucks have the advantages of high efficiency,heavy load,and good flexibility.They have been widely used in the logistics industry and have a large market.At the same time,fast-developing emerging technologies such as artificial intelligence,Internet+,and big data provide strong support for the upgrading of traditional industries.The transformation of traditional electric forklifts to realize intelligent control can not only achieve lower operating costs,but also quickly improve the operating efficiency of the industry.At present,the tracking accuracy and positioning accuracy of the forklift AGV system still need to be further provided.To this end,this article has conducted a more in-depth study on the forklift AGV control system,and the specific work is as follows:1.The design of the forklift AGV system control scheme.The control system of a forklift AGV is mainly composed of a control module,a navigation module,a communication module,a drive module,a reprint module,a power supply module,and a safety protection module.The modules communicate mainly through the CAN bus.2.Preprocessing of navigation sensor data.Lidar and wheel odometer group are the main navigation and positioning sensors used in this article.In order to improve the positioning and navigation accuracy of the modified forklift AGV,a complementary fusion method is used to fuse sensor data of different frequency periods,and then the acquired The navigation data is processed by SG filtering to ensure the stable output of the perception data.3.The design of path tracking algorithm.Path tracking is one of the key technologies to realize the application of forklift AGV.This article compares and analyzes the effects of several path tracking algorithms such as PID,Pure Pursuit,sliding mode,and inversion sliding mode,and then adopts the inversion sliding mode with better tracking effect.Based on the algorithm,an improved approaching law method is designed to improve the jitter problem in the sliding mode control process and improve the positioning accuracy.4.Matlab simulation and physical experiment.Through Matlab simulation and prototype vehicle experiments,the proposed control algorithm was verified,and preliminary experimental results were obtained.