A visual AGV-urban car using Fuzzy control

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.