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Autonomous Guided Car Using a Fuzzy Controller

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Recent Advances in Robotics and Automation

Part of the book series: Studies in Computational Intelligence ((SCI,volume 480))

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Abstract

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.

Based on A Visual AGV-Urban Car using Fuzzy Control, by Miguel A. Olivares-Mendez and Pascual Campoy and Ignacio Mellado and Ivan Mondragon and Carol Martinez which appeared in the Proceedings of the 5th International Conference on Automation, Robotics and Applications (ICARA 2011). 2011 IEEE.

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Acknowledgments

The work reported in this chapter is the product of several research stages at the Computer Vision Group Universidad Politécnica de Madrid. The authors would like to thank the company SIEMENS España S.A. that has made possible the research described in this chapter through several contracts, and the INSIA-UPM Institute and the people at LABIE for their support and the provided facilities.

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Authors and Affiliations

  1. Computer Vision Group Universidad Politénica de Madrid, Jose Gutierrez Abascal, 2, Madrid , Spain

    Miguel A. Olivares-Mendez, Pascual Campoy, Ignacio Mellado-Bataller, Carol Martinez & Jose Luis Sanchez-Lopez

  2. Centro Tecnológico de Automatización Industrial Departamento de Ingeniería Industrial Facultad de Ingeniería Pontificia Universidad Javeriana, Carrera 7 No 40-69 C.P., 110311, Bogotá, D.C, Colombia

    Ivan Mondragon

Authors
  1. Miguel A. Olivares-Mendez
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  2. Pascual Campoy
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  3. Ignacio Mellado-Bataller
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  4. Ivan Mondragon
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  5. Carol Martinez
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  6. Jose Luis Sanchez-Lopez
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Corresponding author

Correspondence to Miguel A. Olivares-Mendez .

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Editors and Affiliations

  1. School of Engineering &, Advanced Technology (SEAT), Massey University, Private Bag 11 222, Palmerston North, 4442, New Zealand

    Gourab Sen Gupta

  2. , School of Engineering and Advanced Techn, Massey University, Private Bag 11 222, Palmerston North, 4442, New Zealand

    Donald Bailey

  3. , Saigon South Campus, RMIT International University, Nguyen Van Linh City 702, Ho Chi Minh City, 70000, Vietnam

    Serge Demidenko

  4. , School of Engineering and Computer Scien, Victoria University of Wellington, Wellington, 6140, New Zealand

    Dale Carnegie

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Olivares-Mendez, M.A., Campoy, P., Mellado-Bataller, I., Mondragon, I., Martinez, C., Sanchez-Lopez, J.L. (2013). Autonomous Guided Car Using a Fuzzy Controller. In: Sen Gupta, G., Bailey, D., Demidenko, S., Carnegie, D. (eds) Recent Advances in Robotics and Automation. Studies in Computational Intelligence, vol 480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37387-9_3

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  • DOI: https://doi.org/10.1007/978-3-642-37387-9_3

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