Reserch On AGV Path Tracking Technology Based On Vision

Automatic guided vehicles (AGV) is a kind of intelligent transport equipment, is an important unit of factory flexible logistics system, it has gained a very wide range of applications with its many advantages such as high degree of automation, high reliability, low cost and high flexible of the composition of transport system. Vision guidance AGV using the camera to get image information of path, which is rich compared with other ways. Visual navigation mainly includes two important parts, information extraction of path and motion control, so this paper focuses on the two aspects to analysis and studies.The main parts of the paper include the following sections:Firstly, discuss the preprocessing technology of the AGV path image which is get by camera, mainly including image enhancement, image filtering, image segmentation and the image position correction of the path, etc. The purpose of the pretreatment is to remove the interference of other information, reduce the subsequent related processing computation under the premise of retaining global information of path as much as possible. At the same time, the digital image stabilization technology was carried out to the position correction of the path image, solving the subsequent problems of path tracking instability due to the path position change in the image which is caused by the random jitter of the camera.Secondly, extract the prefetching path information. Path center point set is obtained according to the edge information of the path mark line, and then use the method of curvature angle estimation to categorize the path model, which is mainly divided into straight path model, circular turning path model and the path model of line turning. And the calculation method of getting position offset and angle offset, which are needed by the AGV navigation is deduced by the feature of path model.Finally, design the path tracking of AGV based on vision guidance, build the AGV motion model, and deduce the equation of state of AGV motion control.Analysis the actual operation and control method of vehicle, chose the fuzzy control method, and design fuzzy controller according to the motion model and the control requirements of AGV. Finally the simulation test is carried out by using the Matlab tool, the simulation results show that, the fuzzy controller designed by this paper can well correct the deviation caused in the vehicle movement, and make the AGV run smoothly.