Vision navigation AGV system based on QR code

XU Qing; XU Zhi-wei; DU Xiao-feng

doi:10.13873/j.1000-9787(2019)02-0083-04

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Vision navigation AGV system based on QR code

更新时间：2025-09-11

- Vision navigation AGV system based on QR code
- Issue 2, Pages: 83-86+90(2019)
- 作者机构：
  
  1. 南京航空航天大学机械结构力学与控制国家重点实验室
  2. 江苏法尔胜光通有限公司
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-9787(2019)02-0083-04
  CLC： TP23
- Published：2019
- 稿件说明：
移动端阅览
XU Qing, XU Zhi-wei, DU Xiao-feng. Vision navigation AGV system based on QR code[J]. 2019, (2): 83-86+90.
DOI：

XU Qing, XU Zhi-wei, DU Xiao-feng. Vision navigation AGV system based on QR code[J]. 2019, (2): 83-86+90. DOI： 10.13873/j.1000-9787(2019)02-0083-04.

摘要

鉴于视觉导航系统具有高精度的优点

设计了基于快速响应代码(QR Code)二维码的视觉导航自动导引车(AGV)系统。完成了AGV系统的结构设计、视觉导航原理及控制策略

确定了AGV系统的各项关键参数。实验研究表明:在导航运行过程中

AGV的站点位置修正后可控制在±12 mm以内

AGV的航向角修正后误差可控制在±1°以内

且AGV能够沿着已有的轨迹地图稳定可靠运行。

Abstract

In view of high precision of visual navigation system

a visual navigation automated guided vehicle（AGV）system based on quick response（QR）code is proposed. Structural design

visual navigation and the control strategy of AGV system are completed

and the key parameters of AGV system are confirmed. The experimental research shows that in the process of the navigation

the site location error and the course angle error of AGV can be controlled within ± 12 mm and ± 1°respectively after revision. Besides

AGV can run stably and reliably along an existing trajectory map navigation.

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Related Institution

Space Control and Inertial Technology Research Center,Harbin Institute of Technology

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