대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

퍼지제어기를 이용한 무인차 항법제어

Fuzzy Logic Controller for a Mobile Robot Navigation

  • 정학영 (서울대학교 공과대학 제어계측공학과, 자동화공동연구소) ;
  • 이장규 (서울대학교 공과대학 제어계측공학과, 자동화공동연구소)
  • Chung, Hak-Young (Automation and Systems Research Institute & Dep. of Control and Instrumentation Eng., Seoul Nat'l Univ.) ;
  • Lee, Jang-Gyu (Automation and Systems Research Institute & Dep. of Control and Instrumentation Eng., Seoul Nat'l Univ.)
  • 발행 : 1991.07.18
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초록

This paper describes a methodology of mobile robot navigation which is designed to carry heavy payloads at high speeds to be used in FMS(Flexible Manufacturing System) without human control. Intelligent control scheme using fuzzy logic is applied to the navigation control. It analyzes sensor readings from multi-sensor system, which is composed of ultrasonic sensors, infrared sensors and odometer, for environment learning, planning, landmark detecting and system control. And it is implemented on a physical robot, AGV(Autonomous Guided Vehicle) which is a two-wheeled, indoor robot. An on-board control software is composed of two subsystems, i.e., AGV control subsystem and Sensor control subsystem. The results show that the navigation of the AGV is robust and flexible, and a real-time control is possible.

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