基于ARM的视觉导航AGV的设计与实现

Design and implementation of ARM-based vision navigation for AGV

以视觉为导引方式的AGV利用摄像头对道路信息进行采集,经由ARM处理器进行快速信息处理,在特征提取的基础上,识别规定的路径。随后采用参数自适应PID控制算法,利用图像识别出的AGV当前位置与实际跑道设定的偏差通过PWM波控制车速和转角,从而实现自主视觉导航功能。最后通过实验验证了这种视觉导航方法的稳定性和准确性。

AGV based on visual guide uses the camera to collect the information ol the road, recognizesthe specified path based on feature extraction through the rapid information processing ol the A R Mprocessor. To control the speed and angle by the PWM wave the parameter adaptive PID control strategyand the deviation between the AGV current position recognized by image and the actual runway are used.A n d then the autonomic vision navigation is realized. Finally, the stability and accuracy ol the visionnavigation method are verified through the experiments.