一种用于小型敏捷仓库的AGV视觉导航方法研究

Research on Visual Navigation Algorithm of AGV Used in Small Flexible Warehouse

随着物流行业的发展,物流自动化仓库正在朝着多用户、多品种和高度灵活性的柔性自动化仓库发展,传统AGV(automatic guided vehicle)难以满足物流仓库的新需求。针对实际需求,基于色差阈值分割的方法对AGV的导航路径偏差进行提取并融合,采用"预瞄闭环控制"的思想设计路径跟踪控制器,实现了机器人高精度的路径跟踪。最后,在搭建的模拟仓库中,对设计AGV的导航性能进行了全面测试,实验结果表明,该视觉导航AGV导航灵活,精度高,运行平稳,可以满足柔性仓储的需求。

With the development of logistics industry, automated warehouses are developing towards the direction of multi-user, multi-variety and flexibility automated ones. Traditional AGVs （ automatic guided vehicle） are difficult to meet the new demands of logistics warehouse. This paper presents a method to extract the deviation of AGV＇s navigation path based on threshold segmentation of chromatic aberration according to the actual needs. The path tracking controller adopting the idea of“preview closed loop control” realizes high precision path tracking of robot. Finally, a logistics warehouse environment is simulated, and the navigation performance of the designed AGV is fully tested. The experimental results show that the visual navigation AGV features flexible navigation, high precision and smooth operation and can satisfy the demand of flexible storage.