A Visual AGV-Urban Car using Fuzzy Control

Olivares Méndez, Miguel Ángel and Mellado Bataller, Ignacio and Campoy Cervera, Pascual and Mondragon Bernal, Ivan Fernando and Martínez Luna, Carol Viviana (2011). A Visual AGV-Urban Car using Fuzzy Control. In: "5th International Conference on Automation, Robotics and Applications", 06/12/2011 - 08/12/2011, Wellington, Nueva Zelanda. pp. 145-150.

Description

Title: A Visual AGV-Urban Car using Fuzzy Control
Author/s:
  • Olivares Méndez, Miguel Ángel
  • Mellado Bataller, Ignacio
  • Campoy Cervera, Pascual
  • Mondragon Bernal, Ivan Fernando
  • Martínez Luna, Carol Viviana
Item Type: Presentation at Congress or Conference (Article)
Event Title: 5th International Conference on Automation, Robotics and Applications
Event Dates: 06/12/2011 - 08/12/2011
Event Location: Wellington, Nueva Zelanda
Title of Book: Proceedings of 5th International Conference on Automation, Robotics and Applications
Date: 2011
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just the visual information of a line painted below the car. In order to implement the control of the vehicle, a Fuzzy Logic controller has been implemented, that has to be robust against curvature changes and velocity changes. The only input information for the controller is the visual distance from the image center captured by a camera pointing downwards to the guiding line on the road, at a commercial frequency of 30Hz. The good performance of the controller has successfully been demonstrated in a real environment at urban velocities. The presented results demonstrate the capability of the Fuzzy controller to follow a circuit in urban environments without previous information about the path or any other information from additional sensors

More information

Item ID: 13250
DC Identifier: http://oa.upm.es/13250/
OAI Identifier: oai:oa.upm.es:13250
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6144872
Deposited by: Memoria Investigacion
Deposited on: 28 Nov 2012 12:30
Last Modified: 21 Apr 2016 12:33
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