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A Visual AGV-urban Car using Fuzzy Control

 

The goal of the work described in this paper is to develop a visual line guided system for a being used onboard an AGV commercial car, controlling the steering and using just the visual information of 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 centre 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.

The paper "A Visual AGV-urban car using Fuzzy Logic" is about this work, and was accepted at The 5th IEEE International Conference on Automation, Robotics and Applications, ICARA'11.