Automatic guided vehicle control by vision system

AGV´s control has been developed in several types. This research aims to develop the AGV´s control using image processing in order to assist AGV from losing the way when the guide line is missing. The AGV, used for experiment, has three wheels. There are one wheel at the front and another two rear wheels. The front wheel is driving and steering controlled by using DC motors on each axis. An encoder is attached on steering axis which is used to check AGV orientation angle. At two rear wheels, there are also attached encoder which is used to measuring the position of AGV for controlling distance of the AGV motion. PLC is applied for AGV´s control application. Wireless color CCD camera is used to be a sensor for detection line´s color that is placed on the ground which is the front side of AGV. CCD sensor is applied to navigate the detected path of traveling. Red line is constructed for AGV´s path. Image processing is operated for detecting the different of guide line and background. Laplacian operator method is applied for edge detection algorithm including filter and thresholding technique. Computer program will created the virtual line by using trigonometry method and sent current position data to AGV´s motion controller.