摘要
对基于计算机视觉的AGV路径跟踪技术进行了研究,提出了基于轨迹控制的AGV运动控制器设计新方法,重点解决AGV路径跟踪效果与高速运动稳定性问题。首先对AGV工作环境与计算机视觉的特点进行分析,设计了适合AGV路径跟踪的图像处理流程。然后在深入分析两轮差速驱动运动平台的基础上,提出了基于轨迹控制的AGV运动控制器设计新方法。该控制器以AGV相对路径所处的状态量为输入,输出AGV控制指令——两轮的速度差和运动时间,从而控制AGV按指定轨迹运动,实现轨迹控制即AGV路径跟踪的目标。试验结果表明,AGV路径跟踪技术对直线和弧线具有较好的跟踪效果且AGV运动平稳。
It introduces the AGV vision-based path tracking technology and proposes the new method for AGV motion controller design based on trajectory control. The main work is to improve the AGV path tracking effect and moving stability with high speed. It analyzes the characteristics of computer vision and AGV’s work environment,designs suitable image processing algorithm for AGV path tracking. On the basis of in-depth analysis of two rounds differential drive motion platform,it presents a new method for deigning the AGV motion trajectory navigation controller. The input of the controller is the state variable between AGV and path,the controller generates the control instructions-the speed difference of the two rounds and times that the AGV needs to move along the specified tracks to active the goal of the AGV line-tracking trajectory control. Experiments show that the technology of AGV line-tracking trajectory control has good effect on straight lines and arcs,and is moving stably.
出处
《机械设计与制造工程》
2014年第2期7-12,共6页
Machine Design and Manufacturing Engineering
关键词
AGV
计算机视觉
路径跟踪
轨迹控制
控制器设计
AGV
Computer Vision
Line-tracking Navigation
Trajectory Control
Controller Design
