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Fuzzy logic controller for an autonomous guided vehicle
Thesis (M. Ing.) -- University of Stellenbosch, 1993.
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| Format: | Thesis |
| Language: | English |
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Stellenbosch : Stellenbosch University
2012
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| _version_ | 1867613980220981248 |
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| access_status_str | Open Access |
| author | Deist, Leon Adriaan |
| author2 | Fourie, C. J. |
| author_browse | Deist, Leon Adriaan Fourie, C. J. |
| author_facet | Fourie, C. J. Deist, Leon Adriaan |
| author_sort | Deist, Leon Adriaan |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (M. Ing.) -- University of Stellenbosch, 1993. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/57989 |
| institution | Stellenbosch University (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:44:45.702Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2012 |
| publishDateRange | 2012 |
| publishDateSort | 2012 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/57989 Fuzzy logic controller for an autonomous guided vehicle Deist, Leon Adriaan Fourie, C. J. Stellenbosch University. Faculty of Engineering. Dept. of Industrial Engineering. Fuzzy systems Intelligent control systems Automated guided vehicle systems Robots, Industrial Automatic control Mobile robots Dissertations -- Industrial engineering Thesis (M. Ing.) -- University of Stellenbosch, 1993. The objective of this project is to investigate the feasibility of using the technique of fuzzy reasoning in the control of an industrial type automated guided vehicle (AGV). For this investigation an integrated system for the control of an AGV, on both a local and a global level, was developed. The local controller uses fuzzy reasoning and ultrasonic sensing to guide an AGV along a specific path segment, without physical guidance and without a priori knowledge of the path. The fuzzy controller was developed by observing an operator while steering a simulated vehicle through different route situations. A simulation was developed for optimising the fuzzy control parameters. The simulation presented different route situations to the fuzzy controller which had to steer a computer image successfully through these situations. This simulation was also used for testing the performance of the fuzzy controller. The results obtained with the simulation indicated that the fuzzy controller is able to steer the vehicle along straight route segments, left/right turns and avoid collision with obstacles. The fuzzy controller designed with this simulation was tested by means of a model AGV. This model was built to test the performance of the controller within a physical environment. The input to the fuzzy controller, on the vehicle’s immediate environment, was provided by 3 ultrasonic sensors. The test results indicated that fuzzy logic is able to steer a model vehicle with its input from these sensors. The purpose of the global controller was to interface the AGV with global planning activities such as despatching, path planning and real time scheduling. As the local controller is responsible for controlling the AGV within a route segment some method is needed to direct the AGV on a global level. In other words the global planner must ensure that the AGV stays on the planned route and arrive at the final goal position. In order to do this a representation of the routes, available to the AGV, within the factory is necessary. This factory representation is referred to as a world map and was implemented by means of a network of nodes and links. With this network the AGV is able to relate the global instructions to physical positions in the factory. This enables the AGV to follow a designated route that is expressed in terms of the network. It was found that this world map is an effective way of interfacing the local fuzzy controller with the global planning activities. Masters 2012-08-27T11:38:45Z 2012-08-27T11:38:45Z 1993 Thesis http://hdl.handle.net/10019.1/57989 en Stellenbosch University 147 pages application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Fuzzy systems Intelligent control systems Automated guided vehicle systems Robots, Industrial Automatic control Mobile robots Dissertations -- Industrial engineering Deist, Leon Adriaan Fuzzy logic controller for an autonomous guided vehicle |
| title | Fuzzy logic controller for an autonomous guided vehicle |
| title_full | Fuzzy logic controller for an autonomous guided vehicle |
| title_fullStr | Fuzzy logic controller for an autonomous guided vehicle |
| title_full_unstemmed | Fuzzy logic controller for an autonomous guided vehicle |
| title_short | Fuzzy logic controller for an autonomous guided vehicle |
| title_sort | fuzzy logic controller for an autonomous guided vehicle |
| topic | Fuzzy systems Intelligent control systems Automated guided vehicle systems Robots, Industrial Automatic control Mobile robots Dissertations -- Industrial engineering |
| url | http://hdl.handle.net/10019.1/57989 |
| work_keys_str_mv | AT deistleonadriaan fuzzylogiccontrollerforanautonomousguidedvehicle |