Autonomous Guided Car Using a Fuzzy Controller
نویسندگان
چکیده
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. Based on A Visual AGV-Urban Car using Fuzzy Control, by Miguel A. Olivares-Mendez and Pascual Campoy and Ignacio Mellado and Ivan Mondragon and Carol Martinez which appeared in the Proceedings of the 5th International Conference on Automation, Robotics and Applications (ICARA 2011). 2011 IEEE All the authors belong to Computer Vision Group Universidad Politénica de Madrid. www.vision4uav.eu Miguel A. Olivares-Mendez e-mail: [email protected] Pascual Campoy e-mail: [email protected] Ignacio Mellado-Bataller e-mail: [email protected] Ivan Mondragon e-mail: [email protected] Carol Martinez e-mail: [email protected] www.vision4uav.eu/?q=researchline/agv1
منابع مشابه
Autonomous Parallel Parking of a Car Based on Parking Space Detection and Fuzzy Controller
This paper develops an automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering angle for the output. In this way some feasible reference trajectory path have been introduced according to geometric and kinematic constraints and nonholonomic constraints to simulate motion path of car. Also a novel method is used for parking space detec...
متن کاملAdaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملEnhancement of Voltage/Frequency Stability in an Autonomous Micro Energy Grid with Penetration of Wind Energy Using a Parallel Fuzzy Mechanism
The main objective of this paper is to model and optimize the parallel and relatively complex FuzzyP+FuzzyI+FuzzyD (FP+FI+FD) controller for simultaneous control of the voltage and frequency of a micro-grid in the islanded mode. The FP+FI+FD controller has three parallel branches, each of which has a specific task. Finally, as its name suggests, the final output of the controller is derived fro...
متن کاملIntelligent Car Parking Using Fuzzy-Neural Networks
This paper analyzes the performance and practical implementation of fuzzy-neural networks for the autonomous motion of mobile robots. The designed fuzzy-neural controller is a refined version of a conventional fuzzy controller, and was trained to optimize a given cost function minimizing positioning error. It was found that the mobile robot with fuzzy-neural controller presents good positioning...
متن کاملAutonomous Navigation Control with Magnetic Markers Guidance of a Cybernetic Car Using Fuzzy Logic*
This paper presents a path-following controller of a bi-steerable cybernetic car with magnetic markers guidance and a laser based anti-collision behavior. The velocity planner, the vehicle’s pose estimator and the multi-target detection and tracking system are fundamental modules of the navigation control architecture. The paper is focused on the path following controller, which is implemented ...
متن کامل