PC-based camera system for controlling a microcontroller-­based Automated Guided Vehicle

Abstract

A PC­-based camera system was designed and implemented to control a microcontroller­-based automated guided vehicle or AGV. The PC­-based camera system is capable of monitoring and directing the AGV during its navigation through the application of several image processing techniques.
Images captured by the camera, placed overhead, were analyzed into pixel intensity levels so as to create a two-­dimensional coordinate system. Different mathematical equations were incorporated on the program to determine the position and orientation of the AGV. The image processing techniques like edge detection, color segmentation and color extraction were employed to differentiate the AGV from its environment and to track the movement of the AGV during its navigation.
Although the PC­-based camera system was able to instruct the AGV to move to the user­-specified position, errors in the final position and direction angles were not avoided. The errors can be attributed to camera scan errors caused by slow response rate of the camera and the varying lighting condition.