AGV navigation method based on kinect vision

The invention discloses an AGV navigation method based on kinect vision. The method comprises the following steps: presetting a traveling route for each AGV; when a kinect instrument above a moving range of the AGV acquires an image in real time, establishing a two-dimensional map; and tracing each AGV by virtue of an AGV contour of each frame of image. When the current frame image is acquired, adeviation slope gradient of each AGV contour is calculated according to the current frame image and the previous frame image, and whether the current traveling path of the AGV is corrected or not is determined; and when the current frame image is acquired, whether the traveling of the AGV is controlled or not is determined by calculating a distance between two adjacent AGV in the same traveling direction, and the traveling of each AGV is controlled by determining whether a plurality of AGV simultaneously reach a same position in the moving range of the AGV at the next moment. According to themethod, the global positio