AGV控制系统小车-初稿

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摘要

随着工业自动化的快速发展，自动导引车（AGV）作为智能物流系统的关键组成

部分，在提高生产效率、降低人力成本以及增强作业安全性方面发挥着重要作用。

AGV 技术的研究与应用受到了学术界和工业界的广泛关注。本文针对 AGV 控制系统

的设计和实现进行了深入研究，旨在提升 AGV 的导航性能、系统的柔性和适应性，以

适应不断变化的工业需求。

AGV 控制系统的硬件设计包括车体结构、传动方案、转向方式以及激光雷达扫描

结构设计。在软件设计方面，本文提出了基于 ROS 的系统软件结构，包括操作系统层

传感器模块、导航与路径规划模块、控制模块、用户界面和人机交互模块以及应用模

块。特别地，本文采用了 A*算法进行路径规划，并设计了适用于麦克纳姆轮全向 AGV

的解耦 PID 控制算法。在硬件电路测试方面，本文提出了详尽的测试方案，包括系统

启动、网络连接、手柄控制、底盘控制、传感器功能、 SLAM 建图与导航以及安全性

能测试。通过这些测试，验证了 AGV 控制系统的稳定性和可靠性。

关键词：AGV；控制系统设计；路径规划；ROS；PID 控制

Abstract

With the rapid development of industrial automation, automated guided vehicles

(AGVs), as a key component of intelligent logistics systems, play an important role in

improving production efficiency, reducing labor costs, and enhancing operational safety. The

research and application of AGV technology has received extensive attention from academia

and industry. This paper conducts an in-depth study on the design and implementation of

AGV control system, aiming to improve the navigation performance, flexibility and

adaptability of AGV to adapt to changing industrial needs.

The hardware design of the AGV control system includes the vehicle body structure,

transmission scheme, steering mode and lidar scanning structure design. In terms of software

design, this paper proposes a system software structure based on ROS, including operating

system layer, sensor module, navigation and path planning module, control module, user

interface and human-computer interaction module, and application module. In particular, the

A* algorithm is used for path planning, and a decoupled PID control algorithm suitable for

Mecanum wheel omnidirectional AGV is designed. In terms of hardware circuit testing, this

paper proposes a detailed test scheme, including system startup, network connection, joystick

control, chassis control, sensor function, SLAM mapping and navigation, and safety

performance testing. Through these tests, the stability and reliability of the AGV control

system are verified.

Key words: AGV, control system design, path planning, ROS, PID control

目    录
学位论文原创性声明
........................................................................................................................................I
学位论文版权使用授权书
.............................................................................................................................III
摘    要
............................................................................................................................................................I
关键词：
AGV
；控制系统设计；路径规划；
ROS
；
PID
控制
....................................................................I
Abstract.............................................................................................................................................................II
目    录
............................................................................................................................................................1
1  
绪论
................................................................................................................................................................1
1.1 课题研究背景与意义.............................................................................................................................1
1.2 AGV 应用研究现状................................................................................................................................1
1.2.1 国外研究现状...................................................................................................................................1
1.2.2 国内研究现状...................................................................................................................................3
1.3 主要研究内容与章节安排.....................................................................................................................4
1.3.1 主要内容...........................................................................................................................................4
1.3.2 章节安排...........................................................................................................................................5
2  
车辆控制原理研究
........................................................................................................................................6
2.1 导航方法研究..........................................................................................................................................6
2.1.1 激光导航...........................................................................................................................................6
2.1.2 视觉导航...........................................................................................................................................8
2.2 路径规划算法........................................................................................................................................10
2.3 麦轮全向 AGV 解耦 PID 控制算法....................................................................................................11
3  
车体结构设计
..............................................................................................................................................14
3.1 AGV 小车的设计要求..........................................................................................................................14
3.2 车辆传动方案........................................................................................................................................16
3.2.1 车身驱动方式................................................................................................................................16
3.2.2 传动方式.........................................................................................................................................16
3.2.3 转向方式.........................................................................................................................................18
3.3 车辆地盘结构设计...............................................................................................................................19
3.4 激光雷达扫描结构设计.......................................................................................................................20
4  
控制系统硬件设计
......................................................................................................................................22
4.1 系统总体设计方案...............................................................................................................................22
4.2 主要传感器选择....................................................................................................................................22
4.2.1 相机选型.........................................................................................................................................22
4.2.2 激光雷达选型................................................................................................................................23
4.3 下位机电路设计....................................................................................................................................24
4.3.1 最小系统电路设计........................................................................................................................24
4.3.2 电源电路设计................................................................................................................................26
4.3.3 电机驱动电路设计........................................................................................................................28
4.3.4 通信电路设计................................................................................................................................29
5  
系统软件设计
..............................................................................................................................................30
5.1 系统软件结构........................................................................................................................................30
5.2 下位机控制系统程序设计....................................................................................................................31
5.2.1 AGV 控制系统流程设计...............................................................................................................31
1

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标签： #控制系统

摘要：

摘要随着工业自动化的快速发展，自动导引车（AGV）作为智能物流系统的关键组成部分，在提高生产效率、降低人力成本以及增强作业安全性方面发挥着重要作用。AGV技术的研究与应用受到了学术界和工业界的广泛关注。本文针对AGV控制系统的设计和实现进行了深入研究，旨在提升AGV的导航性能、系统的柔性和适应性，以适应不断变化的工业需求。AGV控制系统的硬件设计包括车体结构、传动方案、转向方式以及激光雷达扫描结构设计。在软件设计方面，本文提出了基于ROS的系统软件结构，包括操作系统层传感器模块、导航与路径规划模块、控制模块、用户界面和人机交互模块以及应用模块。特别地，本文采用了A*算法进行路径规划，并设计了适...

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