电缆隧道巡检AGV视觉导引技术的研究

路径识别与路径跟踪是AGV（Automated Guided Vehicle）视觉导引技术的两个关键问题。应用迭代法分割路面图像后，使用先闭后开的形态学方法去除图像噪声，然后应用改进的场扫描方法以确定路径在图像中位置。得到车辆的位置参数后，应用模糊控制策略实现路径跟踪。实验表明，该控制算法取得了良好的控制效果。

Study on vision-guided technology for cable channel routing inspection AGV

Path identifier and path tracing are two key problems of AGV vision-guided technology.Applying the morphological method of close-before-break to removing pattern noise after partition road surface image with iterative method,and then use the improved field scan to confirm the position of path in image.Apply fuzzy control strategy to implementing path-tracing when the parameters of vehicle position was obtained.AGV suitable to cable channel routing inspection was designed and path-tracing tests were done in ...