Research on visual navigation algorithm of AGV used in the small agile warehouse

摘要

With the development of logistics industry, the logistics automated warehouse is ahead in the race toward the direction of multi-user, multi-variety and flexibility automated warehouse. Traditional AGVs (automatic guided vehicle) are difficult to meet the new demands of logistics warehouse. This paper presents a method to extract the deviation of AGV's navigation path based on threshold segmentation of chromatic aberration according to the actual needs. The paper realized high precision path tracking of robot by the path tracking controller adopting the idea of beforehand closed loop control. Finally, the logistics warehouse environment was simulated, and the navigation performance of the designed AGV was fully tested. The experimental results show that the visual navigation AGV features of flexible navigation, high precision and smooth operation and can satisfy the demand of flexible storage.