Design of a Dual-AGV Call System Based on STM32 and ZigBee

To address the challenges of path conflicts and communication in cooperative operation of dual Automated Guided Vehicles (AGVs) in industrial logistics, a low-cost intelligent dual-AGV calling system based on STM32 microcontroller and ZigBee wireless communication technology is proposed. The system employs the STM32F103C8T6 as the core controller, integrating TB6612 motor driver, TCRT5000 infrared tracking, and HC-SR04 ultrasonic ranging modules to achieve autonomous navigation and dynamic obstacle avoidance for AGVs. A star communication network is established via ZigBee for transmitting instructions from the host computer and receiving AGV status information. The core innovation lies in a dynamic avoidance strategy based on random priority decision-making: when the ultrasonic sensors detect an inter-AGV distance less than 40cm, a random number generation mechanism (seeded by ultrasonic ranging data) is triggered. Decision information is exchanged via ZigBee, and the AGV with the higher number gains priority passage. Experiments demonstrate that the system stably realizes dual-AGV cooperative calling, path tracking, and intersection conflict resolution, with an average response time of approximately 185ms. ZigBee communication exhibits a delay below 50ms and a packet loss rate less than 0.5%, providing a highly reliable and low-cost solution for flexible production line logistics.