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oaioai:machinery.mas.bg.ac.rs:123456789/4627

Autonomous Navigation of Automated Guided Vehicle Using Monocular Camera

Authors
Publication date
1 January 2012
Publisher
University of Novi Sad - Faculty of Technical Sciences

Abstract

This paper presents a hybrid control algorithm for Automated Guided Vehicle (AGV) consisting of two independent control loops: Position Based Control (PBC) for global navigation within manufacturing environment and Image Based Visual Servoing (IBVS) for fine motions needed for accurate steering towards loading/unloading point. The proposed hybrid control separates the initial transportation task into global navigation towards the goal point, and fine motion from the goal point to the loading/unloading point. In this manner, the need for artificial landmarks or accurate map of the environment is bypassed. Initial experimental results show the usefulness of the proposed approach.COBISS.SR-ID 27383808

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This paper was published in machinery.

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