Design and Development of Forklift AGV Control System Based on ROS Archi-tecture
Aiming at the problems of high development cost,closed system and poor scalability of forklift AGV,this paper designs a new control system based on open-source robot operating system(ROS).The control system adopts two-layer control architecture and realizes the construction of control platform through modular design idea.Among them,the upper layer controller adopts the embedded industrial computer equipped with Linux operating system and ROS to realize the functions of SLAM and path tracking of forklift AGV.The lower controller adopts Siemens PLC to collect I/O signals,and realizes the walking and steering control and information collection of the steering wheel through CAN network,monitors the power system and detects the lifting height of the cargo fork.At the same time,AGV scheduling and online monitoring can be carried out with the shop scheduling computer through wireless network.
forklift type automated guided vehicle(AGV)control systemrobot operating systemSLAMpath tracking
NETL
NSTL
万方数据
维普
