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Intelligent Automated Guided Vehicle Controller with Reverse Strategy


Shigeru Kato* and Kok Wai Wong**


*Niihama National College of Technology, 7-1 Yagumo-cho, Niihama-shi, Ehime 792-8580, Japan
**Murdoch University, South St., Murdoch, WA 6150, Australia


Received: December 22, 2010

Accepted: March 12, 2011


Keywords: fuzzy rule interpolation (FRI), automated guided vehicle (AGV), obstacle avoidance

Journal ref: Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.15, No.3 pp. 304-312, 2011

Abstract



This paper describes the intelligent Automated Guided Vehicle (AGV) control system using Fuzzy Rule Interpolation (FRI) method. The AGV used in this paper is a virtual vehicle simulated using computer. The purpose of the control system is to control the simulated AGV by moving along the given path towards a goal. Some obstacles can be placed on or near the path to increase the difficulties of the control system. The intelligent AGV should follow the path by avoiding these obstacles. This system consists of two fuzzy controllers. One is the original FRI controller that mainly controls the forward movement of the AGV. Another one is the proposed reverse movement controller that deals with the critical situation. When the original FRI controller faces the critical situation, our proposed reverse controller will control the AGV to reverse and move forward towards the goal. Our proposed reverse controller utilizes the advantage of FRI method. In our system, we also develop a novel switching system to switch from original to the developed reverse controller.
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