We present in this paper an integrated motion control system for an automated guided vehicle (AGV) based on multiple sensors. This on-board control system combines a path tracking controller and a real-time fuzzy-neuro obstacle avoidance motion planner. There are three main functions in this system. The first function is used to track precisely a preset desired path. The second function is used to avoid unexpected stationary obstacles on the path. The third is used to return to the desired path after avoiding obstacles. The effectiveness of the system is demonstrated by a number of practical tests on our experimental vehicle.
|Number of pages||10|
|Journal||Journal of Control Systems and Technology|
|State||Published - 1 Sep 1996|