程序代码包括:灰度AGV路径识别,彩色AGV路径识别HSI,彩色空间的AGV路径识别,路径中心线的定位,Radon变换的AGV路径偏差检测-Program code include: gray AGV path identification, color identification AGV path HSI, color space of the AGV path identification, the positioning of the centerline path, Radon transform of the AGV path deviation detection