Aiming at the problems of insufficient positioning accuracy

high positioning cost

single field of view

and poor flexibility of conventional Automated Guided Vehicle (AGV) control in the indoor navigation process

a high-precision navigation control system for Mecanum wheel AGV with global vision is proposed in this paper. Global vision involves mounting a camera at a high location indoors and shoot to form a two-dimensional plane. Firstly

it obtains the real-time coordinate information of the AGV and its surroundings through the recognition algorithm of YOLOv5 and camera calibration. The obtained AGV positioning information is then adaptively fused with its inertial navigation positioning on the AGV using the Extended Kalman Filter algorithm to achieve more accurate positioning. And finally through the analysis of the motion kinematics of the Mecanum wheel AGV

real-time correction of the AGV's motion is achieved using fuzzy PID and decoupling control methods to achieve the navigation control objective. In the final experiment verification

the positioning control accuracy of the AGV can reach within 10 cm

resulting in a noticeable improvement in positioning navigation.