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: [email protected]

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tlale ns   [Google Scholar] 


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.