Affiliation:
1. School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, Zhejiang, China
2. Longgang Institute of Zhejiang Sci-Tech University, Wenzhou, Zhejiang, China
Abstract
As the key to the movement of automated guided vehicle (AGV), the design of control algorithm directly affects whether AGV can follow the preset path. Aiming at the difficulty of AGV control, an AGV path tracking control method based on global vision and reinforcement learning is proposed. Firstly, the global view is obtained by the visual sensor, and the position information of obstacles and AGV is obtained by the target detection algorithm. Secondly, the path planning algorithm is used to obtain the driving path information which is used to establish a virtual environment. Thirdly, the position and pose of the physical AGV are introduced into the virtual environment by the visual sensor, and the virtual AGV is reset. Finally, the image obtained by virtual vehicle camera is input into the reinforcement learning model and the output action is sent to the physical AGV for execution. In the experimental part, this method can not only plan the driving path in different environments but also well control AGV to drive along the specified path, which proves that this method has strong robustness and feasibility.
Funder
Key R&D Project of Zhejiang Province
Longgang Research Institute Project of Zhejiang Sci-Tech University
Zhejiang Provincial General Scientific Research Projects Fund of China
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献