Differential drive and steering control technology of automatic navigation handling tool based on PLC

Abstract

In order to improve the differential drive and steering control technology, the differential drive and steering control technique for automatic navigation based on power line communication (PLC) is designed. The steering of the automatic guided vehicle (AGV) is divided into steering and differential steering. Because of the different steering modes, the AGV will cause different errors when moving along the desired trajectory in the path trajectory transformation. The AGV locus consists of straight and arc line. Among them, the steering trajectory of AGV is not complex because of the lack of spin adaptation, so its trajectory transition is complicated. Taking the self-developed single wheel drive and steering AGV as the object of study, the AGV trajectory planning program and motion program are developed by using Matlab and VC++. The error of AGV in trajectory transformation is analysed theoretically, and it is proved that the error caused by acceleration of motor can be compensated. At the same time, combined with the development of AGV control card PMAC, the program of motion is discussed. In addition, visual navigation has become the main direction of navigation technology because of its large amount of information and flexibility. In order to improve the robustness and accuracy of landmark detection, the effects of image denoising, edge detection and other techniques in navigation are discussed in turn. For the identification of path trajectory, genetic algorithm is introduced to improve the accuracy and time truth of navigation. Finally, the experiment proves the feasibility of the theory, and also gives the method to reduce the error of vision navigation. It provides a good foundation for improving the accuracy of visual navigation.