Observatorio de I+D+i UPM

Memorias de investigación
Book chapters:
Autonomous Guided Car using a Fuzzy Controller
Year:2013
Research Areas
  • Movil robots,
  • Navigation,
  • Diffuse control,
  • Intelligent control
Information
Abstract
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.
International
Si
10.1007/978-3-642-37387-9_3
Book Edition
480
Book Publishing
Springer Berlin Heidelberg
ISBN
978-3-642-37386-2
Series
Springer Studies in Computational Intelligence
Book title
Recent Advances in Robotics and Automation
From page
37
To page
55
Participants
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
  • Autor: Ignacio Mellado Bataller (UPM)
  • Autor: Ivan Fernando Mondragon Bernal (UPM)
  • Autor: Carol Viviana Martinez Luna (UPM)
  • Autor: Jose Luis Sanchez Lopez (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Computer Vision
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)