AGV trace sensing and processing technology based on RGB color sensor array

Kebao Xu; Ping Zhu; Juncheng Wang; Yuliang Yun

doi:10.1117/12.828601

20 May 2009 AGV trace sensing and processing technology based on RGB color sensor array

Kebao Xu, Ping Zhu, Juncheng Wang, Yuliang Yun

Proceedings Volume 7283, 4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Optical Test and Measurement Technology and Equipment; 72830H (2009) https://doi.org/10.1117/12.828601
Event: AOMATT 2008 - 4th International Symposium on Advanced Optical Manufacturing, 2008, Chengdu, Chengdu, China

Abstract

AGV(Automatic Guided Vehicle) is widely used in manufacturing factories, harbors, docks and logistics fields, because of its accurate automatic tracking. An AGV tracking method of detecting trace color based on RGB color sensor is provided here. D_R, D_G, D_B values of trace color are obtained by color sensor, with which hue value denoting trace color characteristic can be calculated. Combined with graph theory algorithm, hue value can be used as a parameter for tracking deviation and branch identification to implement shortest path tracking. In addition, considering discreteness and uncertainty of single sensor in detecting trace information, sensor array is adopted for information fusion to achieve accurate tracking. Compared to tracking trace by single intensity sensor, AGV tracking based on RGB color sensor array has much better trace tracking and branch identification performances on complex roads.

Citation Download Citation

Kebao Xu, Ping Zhu, Juncheng Wang, and Yuliang Yun "AGV trace sensing and processing technology based on RGB color sensor array", Proc. SPIE 7283, 4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Optical Test and Measurement Technology and Equipment, 72830H (20 May 2009); https://doi.org/10.1117/12.828601

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