Research On AGV Path Identification And Tracking Control Based On Vision

Automatic Guided Vehicle which refer to as AGV is a set of modern intelligent transportation equipment,industrial technology covers the machine vision,sensor detection,computer technology,modern control theory and industrial machinery manufacturing and other fields.The most promising of these is the visual guidance AGV and extracted the path information by the visual sensor,transferring to the car's decision making units for information extraction processing,handing out instructions after analysis and decision making.Among them,accurate path identification and good control strategy are crucial for AGV stabilization work.In this paper,we conduct a deep study on the two aspects of AGV path identification and t racking control respectively.The specific work is as follows:1.For the problems of path information extraction under t wo special conditions are pretreated,including applying digital image processing technology to solve the path with extraction of non-uniform illumination,and removing jitter after the camera platform image quivering,at the same time,making the shaking stabilization algorithm improved appropriately,improving the quality of the visual image sensors path algorithm to stabilize the image,to prepare the path information and calculation deviation for AGV visual navigation preferably.2.To meet the practical application of visual navigation AGV run demand for a variety of conditions,beside the path guide line navigation identifier is designed,which makes the identifier information extraction is accurately identify matching algorithm.At the same time,the traditional matching algorithm is improved,and a template matching algorithm based on character refinement is proposed to improve the recognition rate and accuracy.3.To improve the accuracy of the vision guided AGV along the guide line,after extracting the center line of the path to the path of beeline,arc,and the circular path as the research object,using the mathematical model to calculate the path deviation parameters,finally establish the method of curvature estimation to classify different path models,and through the experiment verify the feasibility of classification method,which improve the visual guidance precision.4.To improve the AGV path tracking control effect,study the control method of fuzzy control theory on distance deviation an d angle deviation,in addition,the speed fuzzy controller is added to the control system,so that the new control strategy for multi-fuzzy controllers participating in deviation control is proposed,meanwhile,the feasibility of the control algorithm is v erified by simulation experiment.