제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The Edge Distribution Function Based Method of Trajectory Tracking for AGV

  • Yi, Un-Kun (Department of Digital Animation, Busan Kyungsang College) ;
  • Ha, Sung-Kil (Department of Electrical Engineering , Pusan National University) ;
  • Jung, Sung-Yun (Department of Electrical Engineering , Pusan National University) ;
  • Hwang, Hee-Jung (Department of Electrical Engineering , Pusan National University) ;
  • Baek, Kwang-Ryul (Department of Electrical Engineering , Pusan National University)
  • Published : 2005.06.02
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Abstract

We developed an machine vision method for navigation control of a traveling automatic guided vehicle(AGV) on desired trajectory with guided marks. The formulated EDF accumulates the edge magnitude for edge directions. The EDF has distinctive peak points at the vicinity of trajectory directions due to the directional and the positional continuities of desired trajectory. Examining the EDF by its shape parameters of the local maxima and symmetry axis results in identifying whether or not change in traveling direction of an AGV has occurred. Simulation results show that the presented method is useful for navigation control of AGV.

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