Improving Path Tracking Control in Steer-driven Automated Guided Vehicles Based on a Fuzzy Controller
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Sähkötekniikan korkeakoulu | Master's thesis
Control, Robotics and Autonomous Systems
AEE - Master’s Programme in Automation and Electrical Engineering (TS2013)
AbstractThis master thesis explores the potential of implementing a Fuzzy Logic Controller to refine position control in steer-driven AGVs. Set within the context of a growing need for precision and efficiency in AGV systems, this study's central objective is to develop a controller designed to minimize parameter vulnerability and heighten the precision of path following. This mission was anchored by two primary goals: Initially, the research prioritized the AGV's consistent adherence to its set route, ensuring swift and accurate adjustments in response to any path deviations. Subsequently, a detailed comparison was undertaken between the introduced controller and its predecessor, with a focus on error measurements rooted in ground truth data and analyzed via root mean square errors. The research methodology integrated both simulation tests and preliminary real-world experiments. In the simulation environment, the Fuzzy Logic Controller consistently outperformed traditional P-controllers, especially in scenarios demanding intricate steering adjustments. These simulated successes were partially corroborated by real-world trials, which suggested a reduction in steering errors across diverse operating conditions. Although the Fuzzy Logic Controller demonstrated robustness and reliability, further evaluations are warranted to confirm its suitability for broader practical applications. By comparing the Fuzzy Logic Controller against an existing algorithm, initial results indicate a potential for diminished root mean square errors. Therefore, this study offers a promising foundation for the future development of more efficient and precise steering control mechanisms within the field of AGVs operating indoor.
Thesis advisorHögnäsbacka, Joakim
fuzzy logic controller, position control, path tracking, steering control, automated guided vehicle