Reference : A visual AGV-urban car using Fuzzy control

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Electrical & electronics engineering
	To cite this reference:	http://hdl.handle.net/10993/10000

Title :	A visual AGV-urban car using Fuzzy control
Language :	English
Author, co-author :	Olivares Mendez, Miguel Angel [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
	Mellado, I. [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
	Campoy, P. [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
	Mondragon, I. [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
	Martinez, C. [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
Publication date :	2011
Main document title :	Automation, Robotics and Applications (ICARA), 2011 5th International Conference on
Peer reviewed :	Yes
Event name :	Automation, Robotics and Applications (ICARA), 2011 5th International Conference on
Event date :	December 2011
Keywords :	[en] Autonomous ground vehicle ; Fuzzy Control ; Vision control ; driverless car
Abstract :	[en] 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.
Permalink :	http://hdl.handle.net/10993/10000
DOI :	10.1109/ICARA.2011.6144872

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	Fulltext file(s): File Commentary Version Size Access Open access A Visual AGV-urban Car using Fuzzy Control_ICAS12.pdf Publisher postprint 1.5 MB View/Open

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