AGV parking system based on tracking landmark

This paper presents an efficient method that locates the automated guided vehicle (AGV) into a specific position using vision-based system. For an automated transshipment system in the container terminal, it is necessary for the AGV to recognize the current position of the transfer crane, so that the port AGV locates itself into the working area of the crane. Using an artificially designed landmark attached on the crane, the vehicle detects and tracks the position of the landmark from the video stream through CCD camera fixed to the vehicle. The AGV calculates its position from the position of landmark in the image and control the velocity to align with the crane. The detection method is based on the local features of the landmark such as edges, corners, and color information. After detecting the landmark the vehicle tracks the trace of the target using Condensation algorithm and refinement stage. Detecting and tracking steps are performed in HSI color space to reduce the effect of illumination. Experiment shows reasonable results.