自动导引车视觉导航的路径识别和跟踪控制

Road Recognition and Tracking Control of an Vision Guided AGV

视觉导航AGV利用机器视觉获取路径信息,经图像处理得到导航参数。为保证路径识别的鲁棒性和实时性,对路径图像进行滤波、二值化、数学形态学运算和实时性处理;并设计了PID控制器,根据导航参数控制电动机以实现AGV对路径的跟踪。仿真和实验结果表明,采用此种图像处理和控制方法的AGV具有较为准确和可靠的路径识别和跟踪效果。

The vision-guided AGV acquires images of road through machine vision and the navigation parameters are gotten by processing these images. In order to recognize the road robustly and quickly, some image-processing methods such as filtering, image segmenting were presented. Additionally, some measures were taken to keep the recognition in real time. A PID controller has been designed to control the motors in order to achieve the line-tracking according to the parameters. The simulation and experimental results showed that the road could be recognized even under certain disturbances and the AGV could track the road accurately and reliably.