Research and Design of Trackless AGV System Based on Global Vision

Abstract

To solve the problems of poor flexibility and relatively high cost of railed AGVs, a trackless AGV system based on global view is proposed. The system consists of the algorithm of AGV detection and recognition in the global vision and operation control. Through projective transformation of real-time video, a global map is generated. In order to ensure the real-time identification and positioning of AGV, an algorithm combining the inter-frame difference method and local dynamic tracking is proposed. With an omni-directional AGV with three Mecanums, the above method is verified. Experimental results show that AGV can complete real-time positioning and guidance in the trackless map, and the average positioning accuracy is less than 5cm.