대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2002년도 하계학술대회 논문집 D
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- Pages.2341-2343
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- 2002
Vision을 이용한 자율주행 로봇의 라인 인식 및 주행방향 결정에 관한 연구
A Study of Line Recognition and Driving Direction Control On Vision based AGV
- Kim, Young-Suk (Chonbuk National University) ;
- Kim, Tae-Wan (Chonbuk National University) ;
- Lee, Chang-Goo (Chonbuk National University)
- 발행 : 2002.07.10
초록
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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