摘要
基于视觉的自动导向小车(V-AGV)是目前智能移动机器人的研究热点,主要问题是视觉周期过长带来的速度低、导航精度不高以及循线导航时系统对突发事件(障碍物、故障车)的适应能力差.通过将视觉与非视觉传感器集成,采用基于MAS思想的软件系统,视觉系统探测路径区域信息,建立路径复杂度函数,以模糊推理完成速度规划,融合信息实现跟踪控制,使系统对复杂路径具有智能适应能力,实现高速、高精度循线导航;避障规划-避障-路径恢复方法用于突发事件处理,提高了系统的可靠性、稳定性.仿真和实际应用证明了方法的有效性.
High speed vision-based AGV is a top research in the intelligence mobile robot field. The problem is the low speed method, poor navigation accuracy, and low adaptability of robot for accident （an obstacle or a breakdown AGV） due to the guideline navigation method, long period of image acquirement and processing. In this paper, the CCD and other sensors are integrated and MAS-based control software is developed. The vision system detects the area guideline and evaluates the complicacy of the lane. Then intelligence planning of velocity is carried out by the application of the fuzzy linguistics. So the system has good intelligence adaptability to complex lane, high speed and high accurate navigation. The conflict free planning, conflict free control and path resume method are also proposed for dealin.g the accident to improve the reliability, robustness and intelligence. The simulation and real application prove to be effective.
出处
《桂林工学院学报》
CAS
北大核心
2005年第3期356-360,共5页
Journal of Guilin University of Technology
基金
广西科学基金资助项目(桂科青0339039)
