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自動導(dǎo)引車視覺導(dǎo)航的路徑識別和跟蹤控制
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    摘要:

    視覺導(dǎo)航AGV利用機(jī)器視覺獲取路徑信息,，經(jīng)圖像處理得到導(dǎo)航參數(shù)。為保證路徑識別的魯棒性和實時性,，對路徑圖像進(jìn)行濾波,、二值化,、數(shù)學(xué)形態(tài)學(xué)運(yùn)算和實時性處理,；并設(shè)計了PID控制器,，根據(jù)導(dǎo)航參數(shù)控制電動機(jī)以實現(xiàn)AGV對路徑的跟蹤,。仿真和實驗結(jié)果表明,，采用此種圖像處理和控制方法的AGV具有較為準(zhǔn)確和可靠的路徑識別和跟蹤效果,。

    Abstract:

    The vision-guided AGV acquires images of road through machine vision and the navigation parameters are gotten by processing these images. In order to recognize the road robustly and quickly, some image-processing methods such as filtering, image segmenting were presented. Additionally, some measures were taken to keep the recognition in real time. A PID controller has been designed to control the motors in order to achieve the line-tracking according to the parameters. The simulation and experimental results showed that the road could be recognized even under certain disturbances and the AGV could track the road accurately and reliably.

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李進(jìn),陳無畏,李碧春,王檀彬.自動導(dǎo)引車視覺導(dǎo)航的路徑識別和跟蹤控制[J].農(nóng)業(yè)機(jī)械學(xué)報,2008,39(2):20-24.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(2):20-24.

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