基于机器视觉的AGV路径跟踪  

Research on the AGV Path Following based on Machine Vision

作　　者：刘进[1] 齐晓慧[1] 李永科[1] 

机构地区：[1]军械工程学院,石家庄050003

出　　处：《火力与指挥控制》2010年第8期132-135,146,共5页Fire Control & Command Control

基　　金：国家自然科学基金资助项目(60372041)

摘　　要：以前轮转向、后轮驱动的四轮移动AGV为研究对象,设计控制器使其能自动寻线前进。为实现对标识线路径的识别和跟踪,提出一种原理简单的视觉图像处理方法并加以改进,提取出路径信息。最后基于预瞄理论和车运动学模型,将被跟踪路径分成若干长短不一的微段,以微小折线段逼近参考路径的曲线段,进行分段跟踪。实验证明:系统能很好地满足AGV对路径识别性能和抗干扰能力的要求,实时性好,能按照任意给定的道路标识线平稳地寻迹。A 4 wheels AGV with front wheels steer and rear wheels drive is taken as the research objective,paper designs a controller to make the vehicle follow the path＇s guide-line automatically.One simple and accurate method of vision image processing is designed and improved to pick up the path information.Last,the paper divides desired trajectory into many pieces and follows the pieces one by one based on preview.Experimental results show that the system meets the need of path recognition and anti-interfere well,has good real time characteristic,and tracks random guide-line smoothly.

关 键 词：路径跟踪 机器视觉 预瞄控制 坐标转换 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]