基于RFID的AGV视觉导引系统研究

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1、浙江大学信息科学与工程学院硕士学位论文基于RFID的AGV视觉导引系统研究姓名：郦光府申请学位级别：硕士专业：检测技术与自动化装置指导教师：张光新;侯迪波20080501浙江大学硕士学位论文AbstractIntherecentyears，AutomatedGuidedVehicleshavebeenbecomingthemostimportanttechnologyoftheautomationinindustriallogistics．Compared、而t11thetraditionalnavigationmethods，visualnavigationhastheadvantage

2、sofinformative，high-levelintelligent，andthegoodflexibility．SoitbecomesthemainstudyfocusofAGVTheresearchworkofthispaperreliesonthenewtypeofvisualnavigationvehicleplatform，whichisdevelopedindependentlybytheInstituteofAutomatedInstrumentationEngineeringinZhejiangUniversity．Inthispaper,wemainlyfocuson

3、thehardwareandsoftwarearchitecture，imageprocesssystem，radiofrequencyidentificationsystem，controlstrategiesofpathsfollowing，AGVswirelessschedulingsystem，andotherrelatedissues．(1)．Mechanicaldesignofvehicle．Itincludestheconfigurationandhardwareselectionofdrivesystem，navigationsystemandcontrolsystemof

4、AGV．Designthespecificsteeringstructure，whichmakesproperadjustmentofthesteeringwheels，toachievethegoalofdrivingsmoothlyandavoidingdeviation．Anddesigntheanglesensorofsteeringwheelsindependently，torealizethereal—timecollectionofthedynamicinformation．(2)．Imageprocessing．Toimprovetheadaptabilitytothero

5、adenvironment，thispaperattemptstouseavarietyofimage—processingtechniques．Themainmethodsdiscussedinthispaperinclude：thethresholddeterminationofroadimagebinarization，imagede—noisingbyhorizontalscanningmethodandsmallconnectivecomponentdismantlingmethod，Houghtransformationtofitstraightlines，theroadima

6、ges’distortionrectificationbasedonCrossratiotheoremandSOon．(3)．Pathtrackingcontr01．ThepreviewkinematicsmodelofAGVisestablishedtoforecastthedrivingtrendsofvehiclebymeansofanalyzinginputvariablessuchasangleofsteeringwheel，androadinformation．Takingthehumandrivingexperiencesasareference，thecontrolalgo

7、rithmsbasedonexpeasystemaleestablished．Atthesametime，intelligentcontrolalgorithmssuchastheinitial—ii—浙江大学硕士学位论文steeringwheeladjustment，automaticpathlostsearching，andbranchpathcontrol，arealsointroducedtohelpAGVtoc