COLLISION-AVOIDANCE BY FUZZY-LOGIC CONTROL FOR AUTOMATED GUIDED VEHICLE NAVIGATION

Abstract

A fuzzy approach to collision avoidance for automated guided vehicle (AGV) navigation is proposed. Static obstacles with no a priori position information as well as moving obstacles with unknown trajectories are considered in this study. Intuitive and subjective human ideas of collision avoidance are modeled into fuzzy rules. Fuzzy logic is applied in the inference procedure for AGV navigation, such that the AGV is guided from the starting point toward the target without colliding with obstacles. Furthermore, the proposed method can also be used for the navigation of multiple AGVs, where each AGV must avoid other AGVs as well as obstacles in the environment. Simulation results are presented to show the feasibility of the proposed fuzzy. approach. (C) 1994 John Wiley & Sons, Inc.