AGV Research Based on Inertial Navigation and Vision Fusion

Abstract

To improve the guidance flexibility and navigation accuracy of an AGV, an improved inertial guidance system is designed. The system is based on the single chip microcomputer and the motion model of the AGV. A DM code correction module is introduced to eliminate the accumulated error of the inertial navigation system. Then, a controller is designed on the basis of the fuzzy PID controller and the optimal deviation path controller. The lateral deviation and course angle deviation of the AGV are taken as the input values to obtain the control values of the left and right wheels’ speed. The speed of the two current AGV wheels is adjusted to realize deviation correction. The experimental results show that the system can smoothly and quickly eliminate the lateral and course deviations, and the guidance accuracy is nearly 15% higher than that of the traditional rail guidance system. This outcome verifies that the system can better meet the stability and effectiveness of operation.