Browse > Article
http://dx.doi.org/10.9717/kmms.2016.19.3.539

A Guideline Tracing Technique Based on a Virtual Tracing Wheel for Effective Navigation of Vision-based AGVs  

Kim, Minhwan (Department of Computer Engineering, Pusan National University)
Byun, Sungmin (Department of Computer Engineering, Pusan National University)
Publication Information
Journal of Korea Multimedia Society / v.19, no.3, 2016 , pp. 539-547 More about this Journal
Abstract
Automated guided vehicles (AGVs) are widely used in industry. Several types of vision-based AGVs have been studied in order to reduce cost of infrastructure building at floor of workspace and to increase flexibility of changing the navigation path layout. A practical vision-based guideline tracing method is proposed in this paper. A virtual tracing wheel is introduced and adopted in this method, which enables a vision-based AGV to trace a guideline in diverse ways. This method is also useful for preventing damage of the guideline by enforcing the real steering wheel of the AGV not to move on the guideline. Usefulness of the virtual tracing wheel is analyzed through computer simulations. Several navigation tests with a commercial AGV were also performed on a usual guideline layout and we confirmed that the virtual tracing wheel based tracing method could work practically well.
Keywords
Line Tracking; Vision Based Guideline Tracing; Automated Guided Vehicle (AGV); Vision-based AGV;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 T. Kawano, M. Hara, and M. Sugisaka, "Generating Target Path for Tracing a Line Before Missing the Traced Line of Dead Angle of Camera," Proceeding of IEEE International Joint Conference, pp. 5286-5289, 2006.
2 C. Guosheng, Z. Deguai, X. Gang, and Z. Honbing, "Design and Implementation of Intelligent Tracing Algorithm Based on Machine Vision," Proceeding of IEEE Conference Intelligent Information Technology Application, pp. 697-700, 2009.
3 G. Beccari, S. Caselli, F. Zanichelli, and A. Calafiore, "Vision-based Line Tracking and Navigation in Structured Environments," Proceeding of IEEE Conference Computational Intelligence in Robotics and Automation, pp. 406-411, 1997.
4 Z.G. Man, W.H. Ye, P. Zhao, P.H. Lou, and T.J. Wu, “Research on RFID and Vision-based AGV Navigation,” Journal of Advanced Materials Research, Vol. 136, pp. 298-302, 2010.   DOI
5 S. Byun and M. Kim, “A Vision Based Guideline Interpretation Technique for AGV Navigation,” Journal of Korea Multimedia Society, Vol. 15, No. 11, pp. 1319-1329, 2012.   DOI
6 C.C. de Wit, B. Siciliano, and G. Bastin, Theory of Robot Control, Springer-Verlag, London, 1996.
7 A Vision based Navigation System for Guideline Tracing AGVs (2012). http://youtu.be/B8B29uhS408 (accessed Nov., 15, 2015).
8 G. Dudek and M. Jenkin, Computational Principles of Mobile Robotics, Cambridge University Press, Cambridge, 2000.
9 R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, Cambridge University Press, Cambridge, 2003.
10 Z. Zhang, "Flexible Camera Calibration by Viewing a Plane from Unknown Orientations," Proceeding of IEEE International Conference on Computer Vision, pp. 666-673, 1999.