RANSAC Feature Based Master-Slave Tracking System for Multi-AGV

Li Ping Jiang; Biao Zhang; Qi Xin Cao; Chun Tao Leng

doi:10.4028/www.scientific.net/AMM.404.645

Paper Titles

Design of Robot Lawn Mower Based on Computer Vision
p.624

A Comprehensive Approach of Advanced Error Troubleshooting in Intelligent Manufacturing Systems
p.631

Broadband Low-Frequency Vibration Energy Harvester with a Rolling Mass
p.635

Bottleneck Simulation of Two-Lane Traffic CA Model with Turn Signal
p.640

RANSAC Feature Based Master-Slave Tracking System for Multi-AGV
p.645

Robotic Three-Dot Force Feedback to Suppress Surface Contact Slipping in Robot Drilling
p.650

State Feedback Controller Design for CSTR Based on Kalman Filter
p.657

Task-Oriented Servo Loops Control of a 6-DOF Manipulator for Rescue Robot
p.663

A Novel and Efficient Method for Digital Printing
p.668

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 404RANSAC Feature Based Master-Slave Tracking System...

RANSAC Feature Based Master-Slave Tracking System for Multi-AGV

Abstract:

In order to solve the transportation problem in large aircraft components assembly process, an AGV posture synchronization system is built, which utilizes a two-dimensional laser range finder and adaptive control method. Two-dimensional laser range finder is located in the front of AGV to collect real-time point cloud of environment. After tracking AGV section point cloud, we extract straight lines and turning points using the RANSAC algorithm, and estimate the relative posture accordingly. Then adaptive controller processes the position information to achieve master-slave tracking for multi-AGV. In experiment we used three sets of identical AGV; the average distance error was less than 5mm while the angle error was limited within 0.3 °. The results verified the reliability and practicability of our system, which can meet the requirements for transporting large parts.

You might also be interested in these eBooks

Engineering Decisions for Manufacturing Systems

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 404)

Pages:

645-649

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.404.645

Citation:

Cite this paper

Online since:

September 2013

Authors:

Li Ping Jiang, Biao Zhang, Qi Xin Cao, Chun Tao Leng

Keywords:

Adaptive Control, AGV, Line Extraction, Master-Slave Tracking, Posture Estimation

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Kodagoda, K.R. S, Wijesoma, W. S, Teoh, E. K: Fuzzy speed and steering control of an AGV. Control Systems Technology, IEEE Transactions on. 2002, 10(1): 112-120.

DOI: 10.1109/87.974344

Google Scholar

[2] A. El-Sawah, N.D. Georganas, E.M. Petriu: Calibration and Error Model Analysis of 3D Monocular Vision Model Based Hand Posture Estimation, Proc. IMTC/2006, IEEE Instrum. Meas. Technol. Conf., Warsaw, Poland, May 2007: 1-6.

DOI: 10.1109/imtc.2007.379090

Google Scholar

[3] Liang Jiahai: Research and Implementation of Visual Control Technology with Mult-i AGVs. Computer Measurement & Control. 2011, 19(9): 2164-2172.

Google Scholar

[4] Jeehoon Park, Jewon Lee, Youngsu Park: AGV parking system based on tracking landmark. Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, 2009: 340-343.

DOI: 10.1109/ecticon.2009.5137022

Google Scholar

[5] Martin F N, Celeste W C, Carelli R, et al: An adaptive dynamic controller for autonomous mobile robot trajectory tracking. Control Engineering Practice, 2008, 16: 1354-1363.

DOI: 10.1016/j.conengprac.2008.03.004

Google Scholar

[6] M.A. Fischler , R.C. Bolles: Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography. Comm. ACM, 1981, 24: 381–395.

DOI: 10.1145/358669.358692

Google Scholar