Navigation System of the Stacking Vehicle Based on Fuzzy Control and Laser Scanner

This paper presents a navigation system customized for the automatic path tracking movement of the tracked stacking vehicle working in a shipping container. The vehicle is equipped with a 2D laser scanner for localization and navigation. Returned data is continuously sent back to the navigation system to be processed in order to identify the location of the vehicle relative to the container. For localization, a feature extraction algorithm based on the IEPF algorithm and the priori geometric features of the container is proposed. For navigation, a fuzzy logic controller is designed by implementing the path tracking error as input and track speed difference ratio as output. A fuzzy-logic set of rules is proposed based on human driving experience for path following control. The efficiency of the proposed navigation system is demonstrated through experiment.