| Summary: | 碩士 === 國立臺北科技大學 === 機電整合研究所 === 87 === ABSTRACT
It is doubtless that AGV (automated guided vehicle) with discrimination environment and ability of automatic learning will play an important role in the area of factory automation. In the practical application, light usually is darker in the factory. Therefore, it is the main topic of the study to develop autonomous AGV to apply in the navigation environment. The research of the topic include following items:
1. Camera calibration
The method uses a rectangular shape whose four edge lines are mutually parallel or perpendicular lines in a rectangular shape to derive the camera parameters and its location. These parameters have been applied in the autonomous AGV system.
2. AGV guidance techniques
In the study, the research is implemented by the following two steps. First we have checked the line following technique. Using the line following, the AGV can perform the autonomous navigation. The results can be used to improve and test that the camera calibration parameters are right. Second, we also have developed a new approach to using the perspective-transformation—invariant generalized Hough transform (PTIGHT) and the straight lines existing in the building as model-based guidance to navigate the AGV autonomously. Several experimental results are included to demonstrate the approach of the new proposed navigation techniques.
3. Transportation system
We have been implemented an AGV transportation system. Utilizing the proposed techniques previously, the AGV can be used to perform the transportation in the factory automation.
4. Night navigation system
In the study, the AGV is equipped with an infra-red light device. The system can capture the image frame to help navigation in the darker environment. So, the autonomous AGV can be guided in a darker environment.
In the research, new AGV guidance techniques are developed. To employ the techniques, the AGV can navigate in a known environment by utilizing the straight lines existing in the building as model-based guidance.
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