Observatorio de I+D+i UPM

Memorias de investigación
Capítulo de libro:
Autonomous Guided Car using a Fuzzy Controller
Año:2013
Áreas de investigación
  • Robots móviles,
  • Navegación,
  • Control difuso,
  • Control inteligente
Datos
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
DOI
Edición del Libro
Editorial del Libro
ISBN
Serie
Springer Studies in Computational Intelligence
Título del Libro
Recent Advances in Robotics and Automation
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Participantes
  • 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)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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