Abstract
AbstractAiming at the problem of displacement and angle deviation during the operation of automated guided vehicle (AGV), this paper uses quick response (QR) code as the guide landmark and proposes a visual-aided positioning method and AGV movement trajectory correction algorithm. First, the QR code is read and recognized by an industrial camera, the position of the QR code feature point is extracted, and the position and angle deviation parameters between the AGV and the QR code landmark are calculated, and then the trajectory correction algorithm is used to control the AGV to perform local curve movement. The AGV motion trajectory is corrected. Finally, the operation test is carried out in an indoor environment. The test results show that the combined use of visual positioning and trajectory correction algorithms can reduce the cumulative error caused by inertial navigation, avoid the AGV from being coded, and improve the operation efficiency of the AGV.KeywordsAGVQR codeVisual positioningDeviation correction controlIntegrated navigation
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