Dual-core controller based on ARM cortex series for vision-based AGV

WANG Ke， HUANG Xiao-hua， ZHANG Jian， QIU Jia-qiang
(School of Mechanical Engineering， Nanjing University of Science and Technology， Nanjing 210094， China)

Abstract： Aiming at realizing the effect control of the vision-based AGV，on the one hand there is a need of high performance processors to run the image processing algorithm and path tracking algorithm，on the other hand there is a need of reliable micro controllers to collect a variety of sensor signals and to control the motors. A dual-core vehicle controller based on ARM Cortex-A8 and M3 was designed and realized. Firstly the electro-mechanical system of steering type AGV was analyzed. Then according to the functions that need， both hardware and software designed of the dual-core controller were implemented，where the hierarchical design model was used. And the main modules for the program were explained in detail. Finally the controller was tested on the independently developed AGV platform Anrot-I. The results of the experiment indicate the effectiveness and progressiveness on performance and structure.
Key words： automatic guided vehicle（AGV）； visual navigation； dual-core controller； ARM