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.
Local navigation and fuzzy control realization for autonomous guided vehicle
Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling ; 1996 ; Boston,MA,United States
Proc. SPIE ; 2904
1996-10-29
Conference paper
Electronic Resource
English
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