Autonomous Navigation of Automated Guided Vehicle Using Monocular Camera
Апстракт
This paper presents a hybrid control algorithm for Automated Guided Vehicle (AGV) consisting of two independent control loops: Position Based Control (PBC) for global navigation within manufacturing environment and Image Based Visual Servoing (IBVS) for fine motions needed for accurate steering towards loading/unloading point. The proposed hybrid control separates the initial transportation task into global navigation towards the goal point, and fine motion from the goal point to the loading/unloading point. In this manner, the need for artificial landmarks or accurate map of the environment is bypassed. Initial experimental results show the usefulness of the proposed approach.
Кључне речи:
Automated Guided Vehicle (AGV) / Position Based Control (PBC) / Image based visual servoing (IBVS) / Epipolar geometry / Monocular SLAM / The neural extended Kalman filter (NEKF)Извор:
Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, 20-21 September, 2012, 2012, 301-304Издавач:
- University of Novi Sad - Faculty of Technical Sciences
Финансирање / пројекти:
Напомена:
- COBISS.SR-ID 273838087
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Vuković, Najdan AU - Miljković, Zoran AU - Mitić, Marko AU - Babić, Bojan AU - Lazarević, Ivan PY - 2012 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4627 AB - This paper presents a hybrid control algorithm for Automated Guided Vehicle (AGV) consisting of two independent control loops: Position Based Control (PBC) for global navigation within manufacturing environment and Image Based Visual Servoing (IBVS) for fine motions needed for accurate steering towards loading/unloading point. The proposed hybrid control separates the initial transportation task into global navigation towards the goal point, and fine motion from the goal point to the loading/unloading point. In this manner, the need for artificial landmarks or accurate map of the environment is bypassed. Initial experimental results show the usefulness of the proposed approach. PB - University of Novi Sad - Faculty of Technical Sciences C3 - Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, 20-21 September, 2012 T1 - Autonomous Navigation of Automated Guided Vehicle Using Monocular Camera EP - 304 SP - 301 UR - https://hdl.handle.net/21.15107/rcub_machinery_4627 ER -
@conference{ author = "Vuković, Najdan and Miljković, Zoran and Mitić, Marko and Babić, Bojan and Lazarević, Ivan", year = "2012", abstract = "This paper presents a hybrid control algorithm for Automated Guided Vehicle (AGV) consisting of two independent control loops: Position Based Control (PBC) for global navigation within manufacturing environment and Image Based Visual Servoing (IBVS) for fine motions needed for accurate steering towards loading/unloading point. The proposed hybrid control separates the initial transportation task into global navigation towards the goal point, and fine motion from the goal point to the loading/unloading point. In this manner, the need for artificial landmarks or accurate map of the environment is bypassed. Initial experimental results show the usefulness of the proposed approach.", publisher = "University of Novi Sad - Faculty of Technical Sciences", journal = "Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, 20-21 September, 2012", title = "Autonomous Navigation of Automated Guided Vehicle Using Monocular Camera", pages = "304-301", url = "https://hdl.handle.net/21.15107/rcub_machinery_4627" }
Vuković, N., Miljković, Z., Mitić, M., Babić, B.,& Lazarević, I.. (2012). Autonomous Navigation of Automated Guided Vehicle Using Monocular Camera. in Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, 20-21 September, 2012 University of Novi Sad - Faculty of Technical Sciences., 301-304. https://hdl.handle.net/21.15107/rcub_machinery_4627
Vuković N, Miljković Z, Mitić M, Babić B, Lazarević I. Autonomous Navigation of Automated Guided Vehicle Using Monocular Camera. in Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, 20-21 September, 2012. 2012;:301-304. https://hdl.handle.net/21.15107/rcub_machinery_4627 .
Vuković, Najdan, Miljković, Zoran, Mitić, Marko, Babić, Bojan, Lazarević, Ivan, "Autonomous Navigation of Automated Guided Vehicle Using Monocular Camera" in Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, 20-21 September, 2012 (2012):301-304, https://hdl.handle.net/21.15107/rcub_machinery_4627 .