Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study of Line Recognition and Driving Direction Control On Vision based AGV

Vision을 이용한 자율주행 로봇의 라인 인식 및 주행방향 결정에 관한 연구

  • 김영숙 (충북대학교 대학원 제어계측공학과) ;
  • 김태완 (충북대학교 대학원 제어계측공학과) ;
  • 이창구 (충북대학교 대학원 제어계측공학과)
  • Published : 2002.07.10
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Abstract

This paper describes a vision-based line recognition and control of driving direction for an AGV(autonomous guided vehicle). As navigation guide, black stripe attached on the corridor is used. Binary image of guide stripe captured by a CCD camera is used. For detect the guideline quickly and extractly, we use for variable thresholding algorithm. this low-cost line-tracking system is efficiently using pc-based real time vision processing. steering control is studied through controller with guide-line angle error. This method is tested via a typical agv with a single camera in laboratory environment.

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