Vision Navigetion Intelligent Automatic Guided Vehicle Based On Embedded System

With the navigation system of electromagnetic path tracking, laser or radar targeting, based on personal computers hardware, the automatic guided vehicle generally contains poor flexible working, too large size, costly, and other shortcomings. For this reason, it was proposed that a kind of visual navigation AGV systems based on embedded hardware. The main research contents are:First, to design an embedded hardware platform baced on S3C2410 processor data-processing core and the CPLD PWM signal generator; second, to design a software platform based on ARM-Linux operating system, then completed the design of system platform.It have been designed that a real-time path identifying strategy with the digital image processing, the identification of preview points and the car camera calibration with the linear model. in this way, the control quantity can be extracted from the digital image.It was proposed that the visual path tracking strategy with three preview points, designed that a fuzzy-PID dual-mode controller, and simplified it in order to improve real-time. The simulation shows that this controller has fuzzy control and PID control's advantages at the same time.It had been designed a software system that was written in the Linux environment, with Gcc software compiler and C++ language. we can realize the various functions of the system.Experimental results show that the AGV system can quickly and accurately track the path, real-time and robustness have meet the design requirements. It has highly intelligent, small, low-power, low prices, and other characteristics, will have a broad prospect.