Design and implementation of a path tracking controller with the capacity of obstacle avoidance

Kai-Tai Song*, Y. H. Suen

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

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.

Original languageEnglish
Pages (from-to)151-160
Number of pages10
JournalJournal of Control Systems and Technology
Volume4
Issue number3
StatePublished - 1 Sep 1996

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