In the AGV vehicle drive, the trolley drive is responsible for the collection of the AGV state and sends a permission request for the traveling segment to the traffic management, and at the same time issues an AGV to the confirmation segment.
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1, Navigation
The AGV stand-alone machine measures and calculates the position and heading in the global coordinate system through its own navigation device.
2.Guidance
The AGV stand-alone calculates the speed value and steering angle value of the next cycle according to the current position, heading and preset theoretical trajectory, that is, the AGV motion command value.
3, Searching (Searching)
The AGV stand-alone machine pre-selects the path to be operated according to the instructions of the host system, and reports the results to the higher-level control system. Whether the AGV can be operated by the upper-level system can be uniformly deployed based on the positions of other AGVs. The path of AGV's stand-alone walking is designed based on actual working conditions. It consists of several "segments". Each "segment" indicates the start and end points of the segment, as well as the AGV's speed and direction of travel in that segment.
4, Driving (Driving)
The AGV stand-alone unit controls the vehicle operation through the servo device based on the calculation result of the guidance and the route selection information.
AGV vehicle drive
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