Analysis For AGV With Single Driving And Steering Wheel And Vision Navigation

The turning of Automatic Guide Vehicle (AGV) can be realized by single drivable and steerable wheel or by differential driving wheels. The path is consist of several segments such as arc, beeline etc. So when the AGV travels from one segment to next one, the different turning mode produce the different extent errors. Because the AGV with single drivable and steerable wheel can not spin on the path with acuate changes, the path transition to be planed is very complex. Taking the independently developed AGV as studying object, the error of AGV move from line segment to arc segment is analyzed and the path planning program and control program of AGV are developed with MATLAB and VC++. Feasibility of the error caused by the rudder motor can be compensated theoretically.Otherwise, vision navigation is developing rapidly because it has such merits as plenty of information and flexibility. In order to improve precision and robustness of road recognition, the process of image enhancement,image restoration and image segmentation are analyzed. Genetic algorithm is applied to increase the veracity of the situation for AGV.Finally, the experiment not only proves the feasibility of the method, but also reduces the error of the vision navigation which is very useful for improve the precision of vision navigation..