Environment recognition and path planning of an autonomous guided vehicle

• Main Authors: Yang Sen-Wei, 楊森偉
• Other Authors: Wu Chia-Ju
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/10789017386411894271

碩士 === 國立雲林科技大學 === 電機工程技術研究所 === 86 === A low-cost autonomous guided vehicle (AGV) is used as experimental platform for development of path planning algorithms. To locate the coordinates and orientations of the AGV, photo encoders and electronic compasses will be used in dead reckoning. Meanwhile, ultrasonic ranging finders will also be used for environment recognition. Three algorithms, in which PID and fuzzy controllers are used, will be proposed for path planning of the AGV in unknown environments. In determining the PID parameters, GAs will be used. Simulation results of these three methods will be presented and compared. Then the PID path planning method will be implemented in practice to show the validity of the proposed method.