Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The Vision-based Autonomous Guided Vehicle Using a Virtual Photo-Sensor Array (VPSA) for a Port Automation

가상 포토센서 배열을 탑재한 항만 자동화 자을 주행 차량

  • 김수용 (포항공과대학교 전자전기공학과) ;
  • 박영수 (포항공과대학교 전자전기공학과) ;
  • 김상우 (포항공과대학교 전자전기공학과)
  • Published : 2010.02.01
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Abstract

We have studied the port-automation system which is requested by the steep increment of cost and complexity for processing the freight. This paper will introduce a new algorithm for navigating and controlling the autonomous Guided Vehicle (AGV). The camera has the optical distortion in nature and is sensitive to the external ray, the weather, and the shadow, but it is very cheap and flexible to make and construct the automation system for the port. So we tried to apply to the AGV for detecting and tracking the lane using the CCD camera. In order to make the error stable and exact, this paper proposes new concept and algorithm for obtaining the error is generated by the Virtual Photo-Sensor Array (VPSA). VPSAs are implemented by programming and very easy to use for the various autonomous systems. Because the load of the computation is light, the AGV utilizes the maximal performance of the CCD camera and enables the CPU to take multi-tasks. We experimented on the proposed algorithm using the mobile robot and confirmed the stable and exact performance for tracking the lane.

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References

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