Local navigation and fuzzy control realization for autonomous guided vehicle

El-Sayed H. El-Konyaly; Sabry Fouad Saraya; Raef S. Shehata

doi:10.1117/12.256291

29 October 1996 Local navigation and fuzzy control realization for autonomous guided vehicle

El-Sayed H. El-Konyaly, Sabry Fouad Saraya, Raef S. Shehata

Proceedings Volume 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling; (1996) https://doi.org/10.1117/12.256291
Event: Photonics East '96, 1996, Boston, MA, United States

Abstract

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.

Citation Download Citation

El-Sayed H. El-Konyaly, Sabry Fouad Saraya, and Raef S. Shehata "Local navigation and fuzzy control realization for autonomous guided vehicle", Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); https://doi.org/10.1117/12.256291

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