This paper addresses the problem of local navigation for an autonomous guided vehicle (AGV) in a structured environment that contains static and dynamic obstacles. Information about the environment is obtained via a CCD camera. The problem is formulated as a dynamic feedback control problem in which speed and steering decisions are made on the fly while the AGV is moving. A decision element (DE) that uses local information is proposed. The DE guides the vehicle in the environment by producing appropriate navigation decisions. Dynamic models of a three-wheeled vehicle for driving and steering mechanisms are derived. The interaction between them is performed via the local feedback DE. A controller, based on fuzzy logic, is designed to drive the vehicle safely in an intelligent and human-like manner. The effectiveness of the navigation and control strategies in driving the AGV is illustrated and evaluated.


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    Title :

    Local navigation and fuzzy control realization for autonomous guided vehicle


    Contributors:

    Conference:

    Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling ; 1996 ; Boston,MA,United States


    Published in:

    Publication date :

    1996-10-29





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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