Evaluating the RGB Camera Image Resolution Variation Impact on the Performance of an AGV Position Control System

Abstract

The increasing use of Automated Guided Vehicles (AGV) in the industry points to a search for better techniques and technologies to adapt to market requirements. Proper position control and movement give an AGV greater movement accuracy and greater lateral oscillations stability and vibration. AGVs control techniques are not new, but new sensors applications are possible, such as RGB cameras, imposing the need for dynamic performance tests as an element of control systems. In this sense, it is necessary to ensure the sensor is adequate to control requirements. This work addresses AGVs driven by passive floor demarcations. It presents an analysis of RGB camera as a sensor for AGV control. We performed the experiments with a small AGV prototype on an eight-shaped lane, varying both image resolution parameters. Paper main contribution is a qualitative and quantitative analysis for the different sensor configurations. The experiments confirm sensor pertinence for the proposed control system.