Application of an approximate fuzzy logic controller in an AGV steering system, path tracking and collision avoidance strategy

Rok, strany: 1999, 325 - 338

The application of the fuzzy interpolation-based approximate fuzzy reasoning methods in direct fuzzy logic control systems gives a simplified way for constructing the fuzzy rule base. The rule base of a fuzzy interpolation-based controller is not necessarily complete, it could contain the most significant fuzzy rules only without risking the chance of having no conclusion for some of the observations. In other words, during the construction of the fuzzy rule base, it is enough to concentrate on the main control actions, we do not have to bother with building a complete fuzzy rule base by adding “ filling ” rules (rules could be deduced from the others). In this paper we would like to introduce an approximate fuzzy reasoning method based on K-H interpolation in the vague environment of the fuzzy rule base [Sz. Kovács: New aspects of interpolative reasoning, in: Proceedings of the 6th. International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems, Granada, Spain, 1996, pp. 477–482], [Sz. Kovács, L. T. Kóczy: Approximate fuzzy reasoning based on interpolation in the vague environment of the fuzzy rule base as a practical alternative of the classical CRI, in: Proceedings of the 7th International Fuzzy Systems Association World Congress, Prague, 1997, pp. 144–149], [Sz. Kovács, L. T. Kóczy: The use of the concept of vague environment in approximate fuzzy reasoning, Fuzzy Set Theory and Applications, Tatra Mt. Math. Publ. 12 (1997), 169–81], which could be implemented to be simple enough for practical direct fuzzy logic control applications. For demonstrating the efficiency of the proposed approximate fuzzy reasoning method in direct fuzzy control, as a simulated complex practical application, a steering control of an automated guided vehicle (AGV) is also introduced. The main goal of the steering control is path tracking [Sz. Kovács, L. T. Kóczy: Application of the approximate fuzzy reasoning based on interpolation in the vague environment of the fuzzy rule base in the fuzzy logic controlled path tracking strategy of differential steered abbr{AGV}s, Proceedings of the International Conference, 5th Fuzzy Days, Dortmund, in: Lecture Notes in Comput. Sci., Vol. 1226, Springer-Verlag, Berlin, 1997, pp. 456–467] (to follow a guide path) and to make the task more complex, the second one is a restricted (limited) collision avoidance. In our case, restricted collision avoidance means ldquo; avoiding obstacles without the risk of loosing the guide path”. In this paper we would also to like introduce an approximate obstacle detection strategy based on measurements of three ultrasonic sensors and the move of the AGV; the fuzzy rule bases and their vague environments realising the path tracking and restricted collision avoidance strategy of the AGV (only $12$ rules for control steering and $5$ for the speed); and the simulated results of the system on a test path and obstacle configuration.

ISO 690:

Kovács, S., Kóczy, L. 1999. Application of an approximate fuzzy logic controller in an AGV steering system, path tracking and collision avoidance strategy. In Tatra Mountains Mathematical Publications, vol. 16, no.2, pp. 325-338. 1210-3195.

APA:

Kovács, S., Kóczy, L. (1999). Application of an approximate fuzzy logic controller in an AGV steering system, path tracking and collision avoidance strategy. Tatra Mountains Mathematical Publications, 16(2), 325-338. 1210-3195.