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Vision Guidance Of AGV And Its Control Algorithms Study

Posted on:2004-07-04Degree:MasterType:Thesis
Country:ChinaCandidate:X S WuFull Text:PDF
GTID:2168360092992846Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
Automated Guided Vehicles (AGV) have many potential applications in manufacturing, medicine, space and military fields etc. AGV can successfully reach its destination or move along a desired path in an environment characterized by a terrain. Path tracking and obstacle avoidance are two basic abilities of AGV, which aer also the goals of AGV guidance.This thesis takes a two-wheels AGV as the control object. A high precision line scan CCD camera, high speed DSPs and ultrasonic sensors are used to build the vision guidance system, the motion control system and the obstacles avoidance system of AGV. The paper center is attached to discuss vision tracking, image processing, path planning and multi-motors controlling. This paper tries to develop a newly intelligent AGV motion control system based on machine vision, which can guide AGV to follow an expected path and avoid obstacles in the road. It is difficult to model AGV's running environment for many uncertainties during its operation , and conventional control methods cannot satisfy the system's demands. Fuzzy Logic control is adopted in this paper to improve AGV's real-time control performance due to its robustness and error-tolerance ability. The features of the environment is sensed by visual sensors and ultrasonic sensors ,then the information is transferred to a Fuzzy controller to guide the AGV. The MATLAB Fuzzy Logic Toolbox is used finally to check the Fuzzy Logic controller.
Keywords/Search Tags:AGV, vision guidance, path tracking, Obstacle avoidance, CCD, DSP, Fuzzy Logic
PDF Full Text Request
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