基于数字地图的AGV自主避障技术研究

采用精确标志块来标定摄像机以及手动引导AGV生成比较精确的数字地图，由数字地图在起始点和终点均已知的情况下生成起点到终点的最短路径，并由此确立目标点组和观测点组，再生成对应于每个观测点的距离轮廓图。AGV在自动导引中结合数字地图以及对应于观测点组的距离轮廓图可以实现灵活的自主导向和避障。此方法应用比较简单且导引效果将和运行精度较高。

Design of Automated Guided Vehicle System Based on Image Guidance

Image Guidance is one of many guidance ways for Automated Guided Vehicles (AGVs), which has been attention and researched because its convenience and agility. In this paper we use accurate sign board to demarcate the vidicon and get the accurate digital map of AGV through human-guided. If the start point and goal known we can get the shortest path from the start point to goal by the digital map, furthermore we can confirm a series of object group and observation group, next we can get the distance-profile map of each observation. AGV can avoid roadblock and guide independent and agile in autonomous navigation through the digital map and distance-profile map. We can get preferable guidance and precision through this simple way.