Research on AGV Navigation System Based on Binocular Vision

Abstract

Aiming at the problems that the traditional single sensor of AGV cannot meet the indoor and outdoor operating conditions and the cost of multiple sensors is too high, this paper proposes an AGV navigation method using binocular camera. The binocular camera is used to identify the lane line and obtain the pose deviation of the vehicle body relative to the lane line, and then track the path. The depth information of obstacles is obtained by using binocular parallax principle, and then the vehicle body is protected safely. The pose deviation of the vehicle body relative to the lane line obtained by the proposed binocular camera was verified by experiments. The experimental results show that the pose information obtained by the binocular camera is reliable and stable, and meets the requirements of AGV navigation. The use of binocular vision AGV navigation system, can be suitable for navigation.