基于视觉与电子地图引导的自动导航车

AGV Based on Vision Guided and Electronic Map

为了能够灵活、精确地控制自动导航小车(AGV)的运动过程,提出了基于视觉利用图像识别和处理技术跟踪地面绘制的导航线和标志符号引导AGV运动,并在此基础上创建电子地图设定行驶路线和运动参数综合控制AGV运动状态的方法。通过在VC++6.0平台使用OpenGL强大的图形渲染能力将AGV运动的全过程直观立体地表现出来,实现了三维视景仿真,可观测性好,实用性强。仿真结果验证了通过电子地图和视觉引导综合控制的AGV的可行性和优越性,并为以后的试验研究提供了理论依据和试验手段。

In order to control the motion process of AGV flexibly and accurately, this paper proposed a method that used image process ing technique to identify the guide line and symbol on the road for guiding the AGV, and established the data map to order the route and pa rameter. It used OpenGL to show the total motion process of AGV and complete three--dimensional simulation on VC＋＋6.0. The feasibili ty and advantage of this method is proved with good visibility in three-- dimensional vision simulation. It also provides theory basis and exper iment method for further studv.