Design of Path Following and Obstacle Avoidance Strategies for Automatic Guided Vehicle
| Autor: | Shi-Hong Zhang, 張世宏 |
|---|---|
| Rok vydání: | 2003 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 91 A path following controller and obstacle avoidance strategy for automatic guided vehicle (AGV) is proposed in this thesis. In order to control the AGV smoothly following the planned path, a fuzzy controller respectively controlling the left and right driving motors is proposed in this thesis. The genetic based ellipsoid learning algorithm (GELA) is employed to automatically learn the fuzzy controller. The methods of fuzzy modeling by GELA will be shown in this thesis. Consider that AGV encounters obstacles during following the planned path, the detection approach based on vision is applied to the problem. The approach has three stages. First, obstacles are identified with the laser spot. Then, the width of obstacles and the distance between obstacles and AGV can be obtained by the image analysis. At least, the fuzzy controller is designed by the signal of the infrared sensor. The fuzzy controller makes the decision from the signal of the infrared sensor such that the AGV avoidance obstacles. After passing through obstacles, the AGV will come back the planned path. Finally, Several experiments will be presented to show the effectiveness of the proposed method. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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