Fuzzy Logic Based Control System for Automated Guided Vehicle

Scientific and technological progress affects all areas of human activity. Application of modern technologies in production leads to delegating human functions to equipment and automatic devices. Automation allows to partially or completely relieve human from the execution of cyclic processes and processes performed according to a strictly specified algorithm. The paper describes the use of fuzzy logic control for the high-level control systems of the Automated Guided Vehicles (AGV), using in the mechanical engineering. One of the primary functions of AGVs is the automatic motion planning required for their autonomous navigation. A mathematical model of fuzzy control of the AGV was developed by software control of the electric motor powerof the AGV depending on the speed and distance to the obstacle in order to achieve smooth and precise stopping. The Mamdani algorithm is proposed and implemented in the MATLAB software product as a fuzzy inference algorithm. The rules of the fuzzy inference system are formulated based on the knowledge and experience of experts, as well as modeling the operator's work. Formalization of the description of the speed of AGV, the distance to the obstacle and the electric motor power are carried out by specifying of linguistic variables. The proposed mathematical model can be used in the design of control systems for other types of AGVs.