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Abstract: In
order to make an automatic guided vehicle (AGV) identify the guidance
path, a method about simplified image processing, including image
segmentation, filter, border detection, distortion recti fying and an
improved way to get the relative position of the body is presented. The
method can reduce noise disturbance and the influence of the distorted
image and make AGV perform the real-time image processing. Meanwhile, an
optimal control strategy for path tracking controlling of the AGV is
presented. In order to testify the correctness of the anal- ysis of
theory, the image of lane marker is processed and then the experiment of
the path tracking is carried out. The results show that AGV with the
method and the optimal control strategy could carry out the path
tracking accurately and reliably.
Key words:Automatic
guided vehicle Optimal threshold Path tracking Image
processing
CLC No: TP242.6
安徽省自然科学基金(050420302)和江苏省汽车工程重点实验室资助项目(QC200505)资助.Received 20050301,received
in revised form 20060102 |