Fuzzy Control of an AGV Obstacle Avoidance System in Unknown Environments

Ke Wei Hu; Wei Yao; Li Huo Wang; Wei  Zhang

doi:10.4028/www.scientific.net/AMM.63-64.919

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 63-64Fuzzy Control of an AGV Obstacle Avoidance System...

Fuzzy Control of an AGV Obstacle Avoidance System in Unknown Environments

Abstract:

An avoiding obstacle fuzzy controller for AGV is presented in this paper. Multi-sensors are used to detect obstacles information. The fuzzy controller processes the distance of obstacles by using a 3×3 rule table. As to convert the fuzzy output into non-fuzzy value, Centre of Gravity Method (COG) is used to calculate an accurate control output. This fuzzy control algorithm can solve the problem of obstacle avoidance in unknown environment. And the AGV running path is smooth and the changing of speed is moderate.

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Periodical:

Applied Mechanics and Materials (Volumes 63-64)

Pages:

919-923

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.63-64.919

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Online since:

June 2011

Authors:

Ke Wei Hu, Wei Yao, Li Huo Wang, Wei Zhang

Keywords:

AGV, Fuzzy Control, Obstacle Avoidance

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References

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