NDLI: Fuzzy adaptive mechanism for improving the efficiency and precision of vision-based automatic guided vehicle control

Content Provider	IEEE Xplore Digital Library
Author	Tsung-Ying Sun Shang-Jeng Tsai
Copyright Year	2005
Description	Author affiliation: Dept. of Electr. Eng., Nat. Dong Hwa Univ., Hualien, Taiwan (Tsung-Ying Sun; Shang-Jeng Tsai)
Abstract	This paper proposes a vision-based automatic guided vehicle hybrid control system, which incorporated fuzzy adaptive mechanism with dynamic motion model, for improving the efficiency and precision of vehicle guidance trajectory. Vehicle is guiding along the lane center and keeps correct attitude. In this paper, vehicle's attitude is obtained from the turning angle of front wheel (/spl delta/) which is derived by a vision-based vehicle dynamic behavior acquisition subsystem (VVDBA) in our previous work. We define /spl Delta//spl delta/ and threshold value in this paper. If /spl Delta//spl delta/ is under the threshold, vehicle is guided by dynamic motion model. Otherwise, the fuzzy inference system is used to handle the vehicle's speed, so that it can be moving smoothly and avoiding exceed out the lane boundary. The hybrid strategy was simulated by MATLAB in this paper, and it would obtain robust and precise tracking capabilities along any arbitrary lane.
Starting Page	263
Ending Page	269
File Size	584191
Page Count	7
File Format	PDF
ISBN	0780392981
DOI	10.1109/ICSMC.2005.1571156
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-10-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Programmable control Adaptive control Automatic control Vehicle dynamics Fuzzy systems Mathematical model Control system synthesis Motion control Navigation lane detection Vehicle Motion Dynamic Behavior Acquisition Vision-based Automatic Guided Vehicle Control Fuzzy Adaptive Mechanism
Content Type	Text
Resource Type	Article

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