Technology Of The AGV Visual Navigation And Path Planning

With the rapid development of China’s economy, the degree of automation industry isgetting higher and higher. automated guided vehicle (AGV) as an important part of modernproduction and logistics systems, with its high degree of intelligence, reliable operation, highefficiency, convenient and flexible advantages access to a wide range of applications.Advanced and reliable navigation and path planning techniques is the key to improve theefficiency and security of the AGV system, so we start from the key technology of the AGVand analysis vision navigation control and path planning.Main content as follows:(1) Build the kinematics model of automated guided vehicle and the equation of state.And design the hardware and software systems in accordance with the composition andworking principle of the AGV;(2) Build the camera model of automated guided vehicle, emphasis on the navigationimage processing algorithm. In the aspect of guide line recognition, comparative analysis thepros and cons of the least squares method, the template matching and Hough transformmethod, and use the fuzzy controller to feedback parameter to improve the stability of theguide line recognition quality;(3) Design navigation controller of automated guided vehicle, simulation of AGVcommon optimal controller with the established state equation, propose the disadvantages ofthe conventional control. Introduce and design the fuzzy controller, the simulationexperiments prove the fuzzy controller can rapid correction in the case of large deviations,realize tracking landmarks in complex situations;(4) According to the basic idea of artificial potential field method. Proposed theconcept of tangential repulsion which based on existing research, the simulation results themethod successfully solved the problems of the conventional potential field method, andachieved good results.