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Fuzzy logic controller with slip detection behaviour for Mecanum-wheeled AGV

Published online by Cambridge University Press:  14 June 2005

Nkgatho Sylvester Tlale
Nkgatho Sylvester Tlale
Affiliation:
Department of Industrial and Systems Engineering, University of Pretoria, Pretoria, 0002 (Republic of South Africa) E-mail: nkgatho.tlale@up.ac.za
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Abstract

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A fuzzy logic controller for an omni-directional, autonomous guided vehicle (AGV) implementing Mecanum wheels to achieve directional control of its motion is presented. Omni-directional robotic platforms advantage over conventional designs is that they are capable of performing tasks in congested environments. The AGV's behaviour during navigation is controlled using a fuzzy logic controller, with slip detection.

Keywords

Fuzzy logicMecanum wheelAutonomous guided vehicle (AGV)Inertial navigationCollision avoidanceBehaviour-based control
Type
TECHNICAL NOTE
Information
Robotica , Volume 23 , Issue 4 , July 2005 , pp. 455 - 456
Copyright
© 2005 Cambridge University Press