TY - GEN
T1 - A visual AGV-urban car using Fuzzy control
AU - Olivares-Mendez, Miguel A.
AU - Mellado, Ignacio
AU - Campoy, Pascual
AU - Mondragon, Ivan
AU - Martinez, Carol
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84857403935&partnerID=8YFLogxK
U2 - 10.1109/ICARA.2011.6144872
DO - 10.1109/ICARA.2011.6144872
M3 - Conference contribution
AN - SCOPUS:84857403935
SN - 9781457703287
T3 - ICARA 2011 - Proceedings of the 5th International Conference on Automation, Robotics and Applications
SP - 145
EP - 150
BT - ICARA 2011 - Proceedings of the 5th International Conference on Automation, Robotics and Applications
T2 - 5th International Conference on Automation, Robotics and Applications, ICARA 2011
Y2 - 6 December 2011 through 8 December 2011
ER -