Title :
Global vision for the control of free-ranging AGV systems
Author :
Kay, Michael G. ; Luo, Ren C.
Author_Institution :
North Carolina Univ., Raleigh, NC, USA
Abstract :
A method termed global vision that provides the information necessary for the control of free-ranging automated guided vehicle (AGV) systems is described. Global vision refers to the use of cameras placed at fixed locations in a workspace to extend the local sensing available on board each AGV. The characteristics of an overall global vision-based control system are discussed. A camera placement algorithm that determines the number of cameras required and their placement in a facility is described. An implementation of the image processing and Kalman filtering necessary to track mobile objects is presented
Keywords :
Kalman filters; automatic guided vehicles; computer vision; filtering and prediction theory; mobile robots; tracking; AGV system control; Kalman filtering; camera placement algorithm; free-ranging AGV systems; global vision; image processing; local sensing; mobile object tracking; Automatic control; Cameras; Control systems; Costs; Industrial engineering; Intelligent robots; Navigation; Robot vision systems; Vehicle detection; Vehicle safety;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292117
