Intelligent control for autonomous guided vehicles

摘要

R.J.C. Fraser and Harris discussed (ibid., p.2/1-6, 1991) an infrastructure for real-time mobile robot controls, the NASREM architecture for it (a USA standard), and the language RCL based on the architecture. This paper is concerned with the lower levels (servo levels) of NASREM for a mobile vehicle and the implementation of intelligent real time controllers that essentially produce dynamically invariant plant characteristics for a wide range of environmental and system conditions. Links between self-organising fuzzy logic, neural nets and B-splines are identified and utilised in vehicle motion control and guidance.