Reactive navigation of autonomous guided vehicle using fuzzy logic

Abstract

In this paper, reactive navigation of an autonomous guided vehicle (AGV) is described using the fuzzy logic technique. Typically AGV has the ability to operate and move purposely without human intervention and reactive navigation is one of the robot navigation methods used in dealing with the uncertainties and ambiguity of the information of the path that the robot traverses. Fuzzy logic is chosen to control the AGV due to its strength in incorporating the knowledge of an experienced operator. Two fuzzy controllers are designed for controlling the steering angle and speed of the AGV. These will be based on the distance and angle of obstacles. The navigation simulation will be performed using MATLAB.