Memorias de investigación
Communications at congresses:
A Visual AGV-Urban Car using Fuzzy Control
Year:2011
Research Areas
  • Aerial robots
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
Congress
ICARA 2011: The 5th IEEE International Conference on Automation, Robotics and Applications
960
Place
Wellington, New Zealand
Reviewers
Si
ISBN/ISSN
978-1-4577-0330-0
Start Date
06/12/2011
End Date
08/12/2011
From page
145
To page
150
Automation, Robotics and Applications (ICARA), 2011 5th International Conference on
Participants
  • Autor: Miguel Ángel Olivares Mendez UPM
  • Autor: Ignacio Mellado Bataller UPM
  • Autor: Pascual Campoy Cervera UPM
  • Autor: Ivan Fernando Mondragon Bernal UPM
  • Autor: Carol Viviana Martinez Luna UPM
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC