Navigation Guidance System of AGV Robot Using Image Processing With HSV Filter

Automated Guided Vehicle (AGV) is a tool used to carry or distribute independently which is useful for increasing delivery efficiency in an industry. The AGV robot uses a line follower navigation system where the use of this navigation has a very effective mechanism. In the previous study, the sensors used were 10 units of inductive proximity sensors. Some of them developed a navigation system by implementing the Human Machine Interface (HMI), adding proximity sensors to 15 units, and applying matrix mapping for inter-room navigation systems. In this study, the AGV robot applies digital image processing using HSV filter to replace inductive proximity sensors with the aim of increasing the level of information and more flexible compared to the using inductive proximity sensors. As result, in 10-meter straight test, the average error of the robot's center point is 5.4 millimeters for the center point line which is reached in 39.7 seconds; and turning with a radius of 1.2 meters as far as 1.85 meters with an average error for the robot's center point of 3.6 millimeters, which is reached in 15.9 seconds . From the test results, it can be concluded that the AGV robot can run according to the results of digital image reading using the HSV filter, but there is a difference in torque of both drive motor, which causes the AGV robot run tend little bit to a certain direction.