TY - GEN
T1 - Autonomous guided car using a fuzzy controller
AU - Olivares-Mendez, Miguel A.
AU - Campoy, Pascual
AU - Mellado-Bataller, Ignacio
AU - Mondragon, Ivan
AU - Martinez, Carol
AU - Sanchez-Lopez, Jose Luis
PY - 2013
Y1 - 2013
N2 - The goal of the work described in this chapter 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 30 Hz. 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 chapter 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 30 Hz. 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 - https://www.scopus.com/pages/publications/84883721404
U2 - 10.1007/978-3-642-37387-9_3
DO - 10.1007/978-3-642-37387-9_3
M3 - Conference contribution
AN - SCOPUS:84883721404
SN - 9783642373862
T3 - Studies in Computational Intelligence
SP - 37
EP - 55
BT - Recent Advances in Robotics and Automation
A2 - Sen Gupta, Gourab
A2 - Bailey, Donald
A2 - Demidenko, Serge
A2 - Carnegie, Dale
ER -