비전센서를 이용한 AGV 주행정보 획득과 조향제어에 관한 연구 = A Study on Driving Information Acquisition and Steering Control of AGV using Vision Sensor

다국어 초록 (Multilingual Abstract)

We experimented on AGV driving test with color CCD camera which is setup on it. This paper can be divided into two parts. One is image processing part to measure the condition of the guideline and AGV. The other is part that obtains the reference steering angle through using the image processing parts. First, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, AGV knows the driving conditions of AGV. After then using of those information, AGV calculates the reference steering angle changed by the speed of AGV. In the case of low speed, it focuses on the left/right error values of the guide line. As increasing of the speed of AGV, it focuses on the slop of guide line. Lastly, we are to model the above descriptions as the type of PID controller and regulate the coefficient value of it the speed of AGV.

목차 (Table of Contents)

• Ⅰ.서론
• Ⅱ.본론
• 1.AGV 비전 시스템
• 2.제어기 설계
• 3.신경회로망 AGV 시스템 동정기
• Ⅲ.실험 및 결과 고찰
• Ⅳ.결론