Based On Visual Agv Path Tracking And Obstacle Avoidance Studies

With the development of modern science and technology, Automatic Guided Vehicle (AGV) is to be more and more widely used in many areas. The AGV is a kind of unmanned-vehicle. According to the instructions of the control system, the programs designed in advance, and the position information of the AGV, which is determined by the sensors on the AGV, it can complete a series of the works, driving along the providing route and stops in work stations.First, this dissertation in detail surveys the Chinese and English literatures, summarizes the technical applications of the AGV system in the domestic and overseas and current situations of the developments and researches, systemically analyze the AGV characteristic, the type and the AGV system technical composition, and carries on the detailed explanation to the principle and applications of the machine vision on the AGV. Second, through understanding of the main structure and the working principle to the Vision-based Automatic Guided Vehicle (V-AGV), this paper researches the V-AGV model in the laboratory conditions, and planes and designs the V-AGV control system using the PC computer control, the battery actuate, and the wireless module communication. The third, using the method laying down the white marking line on the ground, we realize the wired guiding of V-AGV. Fourthly in the hardware designing, the each major component constitution and the working form of the V-AGV model system have been completed. In the system software developing, using the Visual Basic as the developing platform, and the DH-QP300 image gathering card to program, this thesis does direct storing in the memory to the navigation image processing, to gain navigation routing information, and enables to realize the V-AGV real-time control. Finally, through the experiments testing of the working situations of the V-AGV, such as the marks line recognizing, the line tracking, the quarter turning, the automatic going to the marks line and the obstacle avoiding and so on, the results show that the V-AGV works well and reaches the system's design requirements.