Observatorio de I+D+i UPM

Descripción
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.
Internacional	Si
Nombre congreso	ICARA 2011: The 5th IEEE International Conference on Automation, Robotics and Applications
Tipo de participación	960
Lugar del congreso	Wellington, New Zealand
Revisores	Si
ISBN o ISSN	978-1-4577-0330-0
DOI
Fecha inicio congreso	06/12/2011
Fecha fin congreso	08/12/2011
Desde la página	145
Hasta la página	150
Título de las actas	Automation, Robotics and Applications (ICARA), 2011 5th International Conference on

Esta actividad pertenece a memorias de investigación

• 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)

• Creador: Grupo de Investigación: Computer Vision
• Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC