A Dual-Core Real-Time Embedded System for Vision-Based Automated Guided Vehicle

Author

Yu, Jun ; Lou, Peihuang ; Wu, Xing

Author_Institution

Coll. of Mech. & Electr. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2009

fDate

11-12 July 2009

Firstpage

207

Lastpage

211

Abstract

As a cell of flexible manufacturing system (FMS), automated guided vehicle (AGV) is widely used in factory. In this paper, we presented a novel technology used for vision-guided AGV. An embedded dual-core processor system with real-time operating system (RTOS) DSP/BIOS is designed for system manager and image processor. We adopt DSP TMS320DM642 as image processor and ARM LPC2210 as controller. The embedded RTOS DSP/BIOS is transplanted on DSP to construct a software development platform for tasks management, which enhance reliability and real-time response of system. Two CCD cameras are fixed on vehicle to capture the scene of lane. One, on the front of vehicle, is used for prediction, the other, at the center of vehicle, is used for accurate positioning. Radio frequency identification (RFID) reader is loaded on vehicle to collect the information stored in RFID tag which placed by the side of lane. The experimental results demonstrate the advantages of real-time and robust.

Keywords

CCD image sensors; automatic guided vehicles; digital signal processing chips; embedded systems; flexible manufacturing systems; industrial robots; mobile robots; multiprocessing systems; operating systems (computers); radiofrequency identification; reduced instruction set computing; robot vision; software reliability; AGV; ARM; BIOS; CCD camera; DSP; FMS; RFID; RTOS; advanced RISC machine; basic input output system; digital signal processing; dual-core real-time embedded system; embedded dual-core processor system; factory robot; flexible manufacturing system; image processor; radio frequency identification reader; real-time operating system; software development platform; system manager; system reliability; task management; vision-based automated guided vehicle; Digital signal processing; Embedded system; Flexible manufacturing systems; Operating systems; Production facilities; Programming; Radiofrequency identification; Real time systems; Software development management; Vehicles; Automated Guided Vehicle; Computer Vision; DSP/BIOS; Embedded System; Robot Navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems Engineering, 2009. CASE 2009. IITA International Conference on

Conference_Location

Zhangjiajie

Print_ISBN

978-0-7695-3728-3

Type

conf

DOI

10.1109/CASE.2009.139

Filename

5194427