基于场扫描的AGV路径识别

为了提高AGV系统的独立运行能力及其适应性，采用一种以图像处理技术为基础的视觉导引方式，实现了对各种复杂路径的定位识别首先将车载CCD摄取到的路径图像进行滤波预处理，并依据自适应闽值法对其进行分割；其次，采用一种基于场扫描的图像去噪及修补方法对分割图像作去噪及修补处理，以提高系统对各种复杂路径图像的适应性；最后，通过边缘检测，确定路径中线，实现路径定位。实验结果表明，该方法对复杂路面环境具有良好的适应性，提高了AGV运行的可靠性。

Path Recognition of AGV Based on Field Scanning

In order to improve the flexibility and adaptability of automatic guided vehicle (AGV) system, the technology of visual navigation based on image processing is applied for path recognition. First, the CCD path image is filtered and segmented by adaptive threshold. Then, the segmented image is processed with the denoising and mending method based on field scanning to improve the adaptability of the system. Finally, the path is located by counting the coordinates of centerline from the result of edge detection. Experiments show that this method can adapt to various complicated road environment and improve the dependability of the AGV system.