Visual position recovery for an automated guided vehicle

Author

Khalfallah, H. ; Petriu, E.M. ; Groen, F.C.A.

Author_Institution

Ottawa Univ., Ont., Canada

fYear

1992

fDate

12-14 May 1992

Firstpage

305

Lastpage

309

Abstract

The authors present a visual method which allows an automated guide vehicle to recover its absolute position anywhere on a guide path represented by a pseudorandom binary sequence whose terms are marked as distinct graphical symbols. An onboard image processing system recognizes these symbols and recovers the pseudorandom code identifying the position. An experimental vision system using a charge-coupled-device (CCD) camera mounted on a commercial HERO 2000 mobile robot has been implemented to validate the absolute position recovery technique. It uses an image acquisition board with 512×512 pixel resolution and a personal computer. The orientation of the guide path is determined by the use of binary symbols

Keywords

CCD image sensors; automatic guided vehicles; binary sequences; computer vision; computerised navigation; image processing equipment; microcomputer applications; mobile robots; pattern recognition; position measurement; HERO 2000 mobile robot; absolute position; camera; charge-coupled-device; experimental vision system; graphical symbols; guide path; image acquisition board; navigation; onboard image processing; personal computer; pseudorandom binary sequence; pseudorandom code; Binary sequences; Cameras; Charge coupled devices; Charge-coupled image sensors; Image processing; Image recognition; Machine vision; Mobile robots; Robot vision systems; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference, 1992. IMTC '92., 9th IEEE

Conference_Location

Metropolitan, NY

Print_ISBN

0-7803-0640-6

Type

conf

DOI

10.1109/IMTC.1992.245128

Filename

245128