Reference : Autonomous Guided Car Using a Fuzzy Controller |
Parts of books : Contribution to collective works | |||
Engineering, computing & technology : Electrical & electronics engineering | |||
http://hdl.handle.net/10993/9997 | |||
Autonomous Guided Car Using a Fuzzy Controller | |
English | |
Olivares Mendez, Miguel Angel ![]() | |
Campoy, Pascual [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group] | |
Mellado-Bataller, Ignacio [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group] | |
Mondragon, Ivan [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group] | |
Martinez Luna, Carol [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics >] | |
Sanchez Lopez, Jose Luis [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation >] | |
2013 | |
Recent Advances in Robotics and Automation | |
Sen Gupta, Gourab | |
Bailey, Donald | |
Demidenko, Serge | |
Carnegie, Dale | |
Springer Berlin Heidelberg | |
Studies in Computational Intelligence | |
37-55 | |
Yes | |
978-3-642-37386-2 | |
[en] Autonomous ground vehicle ; Fuzzy Control ; vision servoing | |
[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. | |
http://hdl.handle.net/10993/9997 | |
10.1007/978-3-642-37387-9_3 | |
http://dx.doi.org/10.1007/978-3-642-37387-9_3 |
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