Algorithms for path planning, navigation and guidance of an AGV

Algorithms for path navigation and generation of guidance setpoints for an AGV are developed. Navigation is based on a simple flat world model of connected nodes using a suboptimal path solution for execution speed. The guidance algorithms use vision data from a stereo pair of linear image array cameras, which described an obstacle location and height where intersected by the vision system plane of view. The development of a map of the area on the AGV path allows the detection of obstacles, which may be passed subject to the aisle markings. The complete vision-guidance system can be implemented using inexpensive commercially available 16 bit microprocessors.