Intelligent distributed fuzzy logic control system (IDFLCS) of a mecanum wheeled autonomous guided vehicle

A truly autonomous guided vehicle (AGV) must sense its surrounding environment and react accordingly. In order to maneuver an AGV autonomously, it has to overcome navigational and collision avoidance problems. Previous AGV control systems have relied on hand-coded algorithms for processing sensor information. An intelligent distributed fuzzy logic control system (IDFLCS) has been implemented in a mecanum wheeled AGV system in order to achieve improved reliability and to reduce complexity of the development of control systems. Fuzzy logic controllers have been used to achieve robust control of mechatronic systems by fusing multiple signals from noisy sensors, integrating the representation of human knowledge and implementing behaviour-based control using if-then rules. This paper presents an intelligent distributed controller that implements fuzzy logic on an AGV that uses four independently driven mecanum wheels, incorporating laser, inertial and ultrasound sensors. Distributed control system, fuzzy control strategy, navigation and motion control of such an AGV are presented.