A fuzzy system for AGV navigation and obstacle avoidance
A study is presented of the motion of an autonomous ground vehicle (AGV) in the space of a moving obstacle. For the obstacle, two types of motion are considered: a. along a straight line and b. random movement. Two cases are also examined for the object dimensions: a. both the AGV and the obstacle are considered as dimensionless and b. the dimensions of both objects are taken into account. A fuzzy obstacle avoidance system (FOAS) has been build that receives as input the current obstacle position. Depending on the position, the proper (minimum) number of fuzzy rules is activated. The output is then defuzzified in order to provide a precise value for the motion direction angle of the AGV. The simulation showed that the vehicle could be guided optimally in the space by avoiding the moving obstacle.
| Attachment | Size |
|---|---|
| IPROMS 2007 - 36.wmv | 14.94 MB |
Dear sceaaf,
Thank you for your question.Depending on the obstacle direction, there are two different fuzzy rule sets. So, each time only one of them is fired. While the input condition is the same, the produced outputs - regarding CV - should be different in order to conform with the obstacle direction (Besides the difference noticed by you, there many other differences in the cells of the two tables reflecting the dependency of the output to the obstacle direction)
Thank you for your interest.
Argiris Dentsoras
Dear Author,
Thank you for your reply. I can see that you system fires the set of rules in according to the information recived from sensors that wether the obstacle is moving Lift-to-Right or Right-to-Lift with respect to the direction of the vehicle. Am I right?.
Regards
Dear Authors,
Thank you for your paper. I can see two tables for the rule sets. Would you mind explain the difference between them?. For example, I can see in table(1) cell(1) that if Sva1 & Sva2 are both VC, then Cv is RRR. While in the same cell in table(2), it is if Sva1 & Sva2 are both VC, then Cv is LLL. It seems two conflicting rules with the same input condition. Please clarify.
Regards