Research On AGA Path Planning And Correction Control Method Based On QR Code Navigation

With the continuous development of science and technology,the application of AGV is becoming more and more extensive.Applying AGV to warehousing logistics can improve transportation efficiency and reduce labor costs.For AGV to complete autonomous navigation and transportation,it must first use the upper computer to plan a passable optimal path.Then when the AGV navigates from the starting position to the target position,it is necessary to adopt a reasonable correction control method to correct the displacement and angle deviation caused by the operation of the AGV,ensure that the AGV can run stably to the target point.Therefore,the research on AGV path planning and correction control methods have important theoretical significance and market prospects.Firstly,this thesis introduces the current research status of AGV related technologies at home and abroad in detail.After comparing and analyzing the advantages and disadvantages of several navigation methods and Two-dimensional codes,the thesis chooses QR codes as navigation landmarks to complete the design of the AGV system based on QR code navigation.Secondly,research on the route planning method of AGV based on QR code navigation.In the optimal path planning of a single AGV,this thesis proposes an improved algorithm to solve the problems of low search efficiency,the large number of search nodes,and insufficient smoothness of the planned path in the traditional A*algorithm.The improved algorithm uses a four-neighborhood node search method based on quadrant division,and introduces a turning time factor,which greatly reduces the number of node searches in the pathfinding process,improves the smoothness of the planned path,and reduces the steering consumption.Aiming at the problem of path conflicts between AGVs in multi-AGV path planning,this thesis analyzes the types of conflicts and combines the positioning characteristics of the QR code grid map,and summarizes the types of conflicts between AGVs into two types: node conflicts and edge conflicts.And based on the traffic control law,an improved algorithm is proposed to solve the conflict problem during the operation of multiple AGVs.Thirdly,the geometric correction method is used to correct the displacement and angular deviation generated during the operation of the AGV.The QR code landmarks in the grid map are distributed at intervals,and the AGV will produce a certain deviation when running between QR codes.This thesis first calculates the deviation between AGV and QR code.Then the kinematics analysis of the AGV is carried out,and the relationship between the AGV's running speed and the radius is derived.This thesis corrects the displacement and angle deviation by controlling the AGV to complete the curve movement.Finally,complete the construction of the AGV system platform based on QR code navigation.Design experiments to verify the feasibility of improving the performance of the A* algorithm and the method of a corrective control.Experimental results show that the improved A* algorithm in this thesis can reduce the number of node searches and improve the efficiency of path planning;the correction control method proposed in this thesis can greatly reduce the AGV's operating deviation and improve the AGV's positioning accuracy and stability.