SENSOR MODELLING AND FUSION FOR FUZZY NAVIGATION OF AN AGV
Wijerupage Sardha Wijesoma, Ping Ping. Khaw, E.K. Teoh · International Conference on Robotics and Automation · 2001
In this paper, the authors describe a fuzzy behavioral approach for navigating an autonomous guided vehicle (AGV) using infrared proximity sensors and a laser range measurement system. The proximity sensors are used to provide distance information based on their logic patterns. A method for associating the logic patterns to fuzzy linguistic variables is presented. A laser scanner is used in conjunction with the proximity sensors in local navigation and obstacle avoidance duties. A fuzzy histogram grid approach is used to integrate and fuse the two sensor types. It is shown that in addition to the logic patterns of the proximity sensors, the simulator is able to monitor vehicle performance through a traveling profile, heading angles, and changes in steering commands.