CURVED-PATH AND VELOCITY CONTROL OF AN AUTONOMOUS GUIDED VEHICLE USING FUZZY-LOGIC

We develop a new algorithm for an autonomous guided vehicle (AGV) with curved-path and velocity control by applying fuzzy logic. The curved- path and velocity control of an AGV has two significant problems: (1) rotation-angle and deceleration when the AGV follows a curved-path; (2 ) acceleration when the AGV leaves the curved-path. In order to solve these problems, this paper presents an algorithm that enables the curr ent AGV speed to reduce properly when it begins the curved-path, and t o then rapidly recover the original speed. We verify the validity of t he algorithm through simulation and show that the AGV reaches its dest ination without changing speed rapidly on the curved-path.