Robotica



TECHNICAL NOTE

Fuzzy logic controller with slip detection behaviour for Mecanum-wheeled AGV


Nkgatho Sylvester Tlale a1
a1 Department of Industrial and Systems Engineering, University of Pretoria, Pretoria, 0002 (Republic of South Africa) E-mail: nkgatho.tlale@up.ac.za

Article author query
tlale ns   [Google Scholar] 
 

Abstract

A fuzzy logic controller for an omni-directional, autonomous guided vehicle (AGV) implementing Mecanum wheels to achieve directional control of its motion is presented. Omni-directional robotic platforms advantage over conventional designs is that they are capable of performing tasks in congested environments. The AGV's behaviour during navigation is controlled using a fuzzy logic controller, with slip detection.

(Received February 10 2005)


Key Words: Fuzzy logic; Mecanum wheel; Autonomous guided vehicle (AGV); Inertial navigation; Collision avoidance; Behaviour-based control.