Guided By The Visual Agv System Research

With the rapid development of modern logistics and transport industry,more and more logistics equipment came into being and to grow and develop.AGV, as highly automated logistics equipment, has been widely applied towarehousing, logistics and flexible production systems. It is a comprehensiveintelligent vehicle and integrated into the machinery, computer technology,control theory, intelligent technology, electronics and other disciplinestechnology. AGV has highly intelligent and flexible characteristics, since itsbirth, attracted the attention of many scholars at home and abroad.The object of this paper is vision-guided AGV and focus on its guidancesystem. The guiding principle of visual AGV is to get deviation of the vehicleand path through the visual system identification guide signposts which are setin advance in the work environment and then control AGV traveling accuratelyalong the guide path. According to the working principle, the guidance system isdivided into three parts of the visual image system, control system and drivesystem. Specifically, it is the visual system responsible for the acquisition andprocessing of images, the drive system responsible for driving and steering ofAGV, the control system responsible for the adjustment of the traveling state ofAGV according to the path parameters. Therefore, the study of this paperincludes mainly three aspects.(1) In image processing, in order to obtain accurate path centerline and thenextract the precise parameters, each step processing method of the route imageneeds to be analyzed and the optimal choice. At the same time, it also makes theimage processing to achieve real-time requirements.(2) In terms of traveling control, the paper research on Particle SwarmOptimization and sliding mode control method. For the buffeting impact ofsliding mode control method, this paper proposes a new method which usesimmune particle swarm algorithm to optimize the parameters of sliding modecontrol law. Finally, optimized sliding mode variable structure control methodis as the strategy of AGV path tracking control. In order to verify the effectiveness of this control strategy, the paper makes the simulation of AGV inthe case of straight line, curve and circumference path.(3) In terms of hardware design, the paper analyzes control systems, visualimage processing system, drive system and then select the appropriate hardware.In order to make the guidance system achieve real-time requirement, the paperproposes an embedded control system based on the microprocessor ARM anddigital signal processor (DSP) architecture.