基于倒置相机的多机器人AGV原型机动控制设计

2022 16th International Conference on Telecommunication Systems, Services, and Applications (TSSA) Pub Date : 2022-10-13 DOI:10.1109/TSSA56819.2022.10063923

A. Setiawan, A. Rusdinar, S. Rizal, Rina Mardiati, Eki Ahmad Zaki Hamidi

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引用次数: 0

摘要

在本研究中，建立了AGV机器人的导航系统原型。使用的传感器是Pixy2 CamCMU5视觉传感器。摄影师被倒立在天花板上。相机与目标之间的高度为1米。视觉传感器用于检测机器人和目标的位置。机器人和目标将被赋予颜色作为位置和方向的标记。使用的方法是计算角度的大小和向量的长度。然后从这个值发送到微控制器进行处理。使用的微控制器是Arduino Mega。然后将数据发送到NRF，然后以左电机转速(Vl)和右电机转速(Vr)的形式发送给机器人。根据目标检测试验，在82 ~ 121的值处获得最佳光照。在实现中，不建议使用像素相机，因为探测距离低，容易受到光线变化的干扰。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design of Multi Robot AGV Prototype Maneuver Control Based on Inverted Camera

In this research, a prototype navigation system for the AGV robot has been created. The sensor used is the Pixy2 CamCMU5 vision sensor. The cameraman is kept upside down on the ceiling. The height between the camera and the target is 1 meter. The vision sensor is used to detect the position of the robot and the target. Robots and targets will be given a color as a marker of position and direction. The approach used is to calculate the size of the angle and the length of the vector. From this value will then be sent to the microcontroller for processing. The microcontroller used is Arduino Mega. After that the data will be sent to the NRF and then sent to the robot in the form of the left motor speed (Vl) and the right motor (Vr). Based on target detection trials, the best lighting is obtained at values of 82 - 121. In its implementation, the pixy camera is not recommended because of the low detection distance and easily disturbed by changes in light.

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来源期刊

2022 16th International Conference on Telecommunication Systems, Services, and Applications (TSSA)

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