Reference : Autonomous Guided Car Using a Fuzzy Controller

	Document type :	Parts of books : Contribution to collective works
	Discipline(s) :	Engineering, computing & technology : Electrical & electronics engineering
	To cite this reference:	http://hdl.handle.net/10993/9997

Title :	Autonomous Guided Car Using a Fuzzy Controller
Language :	English
Author, co-author :	Olivares Mendez, Miguel Angel [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
	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 >]
Publication date :	2013
Main document title :	Recent Advances in Robotics and Automation
Editor :	Sen Gupta, Gourab
	Bailey, Donald
	Demidenko, Serge
	Carnegie, Dale
Publisher :	Springer Berlin Heidelberg
Collection and collection volume :	Studies in Computational Intelligence
Pages :	37-55
Peer reviewed :	Yes
ISBN :	978-3-642-37386-2
Keywords :	[en] Autonomous ground vehicle ; Fuzzy Control ; vision servoing
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/10993/9997
DOI :	10.1007/978-3-642-37387-9_3
Other URL :	http://dx.doi.org/10.1007/978-3-642-37387-9_3

	File(s) associated to this reference
	Fulltext file(s): File Commentary Version Size Access Open access PostICARA11OlivaresMendez.pdf Publisher postprint 2.81 MB View/Open

All documents in ORBi^lu are protected by a user license.

 

University of Luxembourg Library |  Feedback |  Legal notices Site Map