A New Navigation Method for an Automatic Guided Vehicle

This paper presents a new navigation method for an automatic guided vehicle (AGV). This method utilizes a new navigation and control scheme based on searching points on an arc. Safety measure indices are defined and are generated from the output of a fuzzy neural network which define the actions the AGV is to take when in the presence of obstacles. The proposed algorithm integrates several functions required for automatic guided vehicle navigation and tracking control and it exhibits satisfactory performance when maneuvering in complex environments. The automatic guided vehicle with this navigation control system not only can quickly process environmental information, but • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • •

[1]  Osamu Takahashi,et al.  Motion planning in a plane using generalized Voronoi diagrams , 1989, IEEE Trans. Robotics Autom..

[2]  John Yen,et al.  A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation , 1995, IEEE Trans. Syst. Man Cybern..

[3]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[4]  Gabriel Ramírez,et al.  A new local path planner for nonholonomic mobile robot navigation in cluttered environments , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[5]  Narendra Ahuja,et al.  Path planning using the Newtonian potential , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[6]  Tomás Lozano-Pérez,et al.  An algorithm for planning collision-free paths among polyhedral obstacles , 1979, CACM.

[7]  Paul M. Griffin,et al.  Path planning for a mobile robot , 1992, IEEE Trans. Syst. Man Cybern..

[8]  Jean-Claude Latombe,et al.  Numerical potential field techniques for robot path planning , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[9]  John J. Leonard,et al.  Directed Sonar Sensing for Mobile Robot Navigation , 1992 .

[10]  Pai-Shih lee,et al.  Collision avoidance by fuzzy logic control for automated guided vehicle navigation , 1994, J. Field Robotics.

[11]  Jiann-Der Lee,et al.  Path planning and prototype design of an AGV , 1999 .

[12]  Javier de Lope,et al.  INTEGRATION OF ARTIFICIAL POTENTIAL FIELD THEORY AND SENSORY-BASED SEARCH IN AUTONOMOUS NAVIGATION , 2002 .