Path plan acquisition system for AGV with dual CCD-cameras

This paper refers to a vision system based on the principle of stereoparallax range finding, which has been applied to an automatic guided vehicle system (AGVS) successfully at the Farm Machinery Lab. of Jilin University of Technology. Two images of a scene are taken by the left and right pick up cameras at same time and acquired by the computer through a video interface. An algorithm which calculates the distance between a target point and the pick up camera is presented. Then a map for making path plans can be obtained. This technique uses an imitated surrounding approach. The results have proved that this vision system is practicable and its development is optimistic, even though the study is in the field of agriculture.