Global vision for the control of free-ranging AGV systems

A method termed global vision that provides the information necessary for the control of free-ranging automated guided vehicle (AGV) systems is described. Global vision refers to the use of cameras placed at fixed locations in a workspace to extend the local sensing available on board each AGV. The characteristics of an overall global vision-based control system are discussed. A camera placement algorithm that determines the number of cameras required and their placement in a facility is described. An implementation of the image processing and Kalman filtering necessary to track mobile objects is presented.<>