Real Time Fuzzy Based Speed and Direction Angle Control of an Automated Guided Vehicle

Abstract

In this paper a fuzzy controller is applied to velocity and direction angle control of a certain type of wheeled mobile robots called Automated Guided Vehicles (AGVs). The velocity and direction angle of the AGV are controlled to keep the vehicle on desired path. A PI controller is also applied to AGV in order to show the robustness of the fuzzy controller. Experimental results prove that the fuzzy controller shows better tracking performance than the PI controller in terms of robustness, smoothness and fast dynamics. Results are also given for sudden disturbance and extra load conditions and satisfied results are obtained.

Keywords

• -
• vehicle system
• direction control
• path tracking
• fuzzy control
• araç sistemi
• yön kontrolü
• yörünge takibi
• bulanık kontrol