Research on precise positioning of AGV vision based on fuzzy path rectification

For the traditional autonomous navigation vehicle(AGV), the problem of high-precision path tracking and precise positioning of key points can not be satisfied. A combination method of key point precise location and path correction based on fuzzy control is proposed for the first time. Firstly, the four wheel differential kinematic model of AGV is established, position bias and angle deviation are used as inputs and the deviation rectification control is output. A two-dimensional fuzzy controller is designed to realize quick deviation correction. In addition, aiming at high-precision positioning requirements for special points, according to the size of each frame sampled image, the coordinate model is fixed. The two-dimensional code contour is obtained by three point positioning method, and then the offset is computed by the offset of the center point. Lastly, the precise positioning is got.