03344ntm a2200289 a 4500 vtls000093926 KUKTEM 20251117113343.0 160317t2014 my a f 000 0 eng d THE0005361(Local) 201905151209 hanafiah 201710061606 aishah 201603171115 huda UMP FKP .J47 2014 r Thesis Jessnor Arif Mat Jizat Landmark guided trajectory of an automated guided vehicle using omnidirectional vision / Jessnor Arif Mat Jizat Kuantan, Pahang : UMP, 2014 xvii, 79 p. : ill. ; 30 cm. + 1 CD-ROM Faculty of Manufacturing Engineering Thesis (Master of Engineering (Manufacturing)) -- Universiti Malaysia Pahang – 2014 Bibliography : p. 70-73 The omnidirectional camera is very useful in tracking a landmark for automated guided vehicle (AGV). The omnidirectional camera can sense object 360° around the AGV thus eliminating the need of camera panning or robotic reorientation. The image produced by the omnidirectional camera is usually highly distorted. However, one feature of the image captured by an omnidirectional camera is that the distortion only against the height of the object. Object with negligible height has negligible image distortion. With this feature in mind, this research investigates the trajectory generated from an AGV towards an identified and recognized landmark using omnidirectional camera without rectifying the distortion into perspective view. The research work involves landmark identification and recognition using image processing step. The landmark used, was enlarged to four different sizes, code-128 barcodes with cyan background and red orientation marker. The landmark identification and recognition is processed from the image captured by the omnidirectional camera. The camera was mounted on the AGV and remain as the sole range sensor for the AGV to sense its environment. Three fundamental trajectories used in robotics navigation namely straight, left turn, and right turn were experimented to present the trajectory of an AGV guided by a landmark. The AGV was modelled using Bicycle Model. The trajectory of the AGV is then simulated using MATLAB/Simulink. Next, the simulation work is validated with the experimental work. A proportional control is applied in the experimental work for the AGV move toward the landmark. All experiments were conducted in a laboratory environment with controlled illumination. The work thus demonstrate that the image captured using omnidirectional camera can be used to identify and recognize a landmark without going through any typical omnidirectional image unwarping process into a perspective view.The important navigational information for the vision-based-AGV can be extracted directly from the camera feed. Faculty of Manufacturing Engineering Dissertations Universities and Colleges Dissertations Theses http://ecollib.ump.edu.my/3637/ Library access only 0 0 lcc 0 1 20000 20000 2019-09-04 0 FKP .J47 2014 r Thesis 0000107868 2019-09-04 00:00:00 1 2019-09-04 THESIS 0 0 lcc 0 1 20000 20000 2019-09-04 0 CD 9694 | FKP .J47 2014 r Thesis 0000107869 2019-09-04 00:00:00 1 2019-09-04 THESIS VIRTUA40 7230 7236 VTLSSORT0080*0200*0400*0900*1000*2450*2600*3000*5000*5020*5040*5200*6100*6500*6501*8560*9992