Abstract The development of techniques for path following control of vehicles has become an important and active research topic in the face of emerging markets for advanced autonomous guided vehicles (AGVs). This paper presents a two-layer control architecture for path following of a AGV using camera sensor. The AGV is a tricycle wheeled mobile robot with three wheels, two fixed wheels and one driving steering wheel. Camera sensor is used to measure the tracking position error and heading angle error. Based on these errors, a controller that integrates two control loops, inner loop and outer loop, is designed. The outer loop control is based on fuzzy logic framework and the inner loop control is based on two conventional PID controllers. The effectiveness of the proposed control system is demonstrated through simulations and experiments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Path Following Control of Automated Guide Vehicle Using Camera Sensor


    Contributors:


    Publication date :

    2019-04-13


    Size :

    7 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Automated Ground Vehicle Path-Following: A Robust Energy-to-Peak Control Approach

    Zhou, Xingyu / Wang, Zejiang / Wang, Junmin | IEEE | 2022


    Camera Based Automated Lane Keeping Application Complemented by GPS Localization Based Path Following

    Guvenc, Levent / Cantas, Mustafa Ridvan | SAE Technical Papers | 2018


    Camera Based Automated Lane Keeping Application Complemented by GPS Localization Based Path Following

    Cantas, Mustafa Ridvan / Guvenc, Levent | British Library Conference Proceedings | 2018


    CONTROL OF AUTOMATED FOLLOWING IN VEHICLE CONVOYS

    LAWS SHAD M / SWITKES JOSHUA P / GAVRYSH ART et al. | European Patent Office | 2020

    Free access

    Combined Path Following and Vehicle Stability Control using Model Predictive Control

    Lenssen, Daan / Bertipaglia, Alberto / Santafe, Felipe et al. | British Library Conference Proceedings | 2023