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Autonomous Driving Control of Automatic Guided Vehicle using Tablet PC
Hiroyuki Sato
Pages - 1 - 15     |    Revised - 30-09-2021     |    Published - 31-10-2021
Volume - 10   Issue - 1    |    Publication Date - October 2021  Table of Contents
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KEYWORDS
Mobile Computing, Embedded System, Autonomous Driving, Image Processing.
ABSTRACT
In recent years, mobile terminals are inexpensive, but have high performance in both calculation and display, are equipped with many input / output devices, and are easy to develop software. Therefore, we thought that it could be used for control devices in the embedded field, and tried to apply it to control of autonomous guided vehicles (AGVs). The control method is as follows; after taking a picture of the front passage with a camera and detecting the edge, the points at the boundary between the passage surface and other objects (walls and shelves) are extracted, and the left and right approximate straight lines are calculated from the points. Then, it runs with the intersection of the lines as the center of the passage. The problems were the influence of floor noise and the detection of incorrect road boundary lines. Therefore, we were able to reduce the detection of erroneous wall-floor boundary points by applying a noise removal method that makes the best use of the characteristics of the image, and to improve the detection accuracy of road boundary lines. With this improvement, the AGV, which initially traveled only about 10m, can be run to the last 100m of the test course, and as a result of measurement, the average error in the running direction is reduced to 20%, the maximum error is reduced to 21%, and the variation of running direction is reduced to 1.4%. The processing time is also about 250 milliseconds, which is a time that does not hinder the running control every second. From the above results, it is confirmed that the mobile terminal can be used stably on a relatively wide road, and it is shown that the mobile terminal can be applied to the embedded system.
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Professor Hiroyuki Sato
Faculty of Software and Information Science, Iwate Prefectural University, Takizawa, 020-0693 - Japan
sato_h@iwate-pu.ac.jp