Fuzzy logic control of an automated guided vehicle

Automated guided vehicles (AGV) are very important in factory automation. In this work, a controller is designed for an AGV by fuzzy logic control theory. The results of controller are compared with the results of PJD controller. The controller is simulated in PC and results are given. When designing a controller for AGV, the most important point is that the some parameters of AGV (i.e. inertia) change with load changes and cause change of dynamic behaviour of vehicle. Therefore, the controller should be designed to overcome any parameter changes. The fuzzy logic controller is designed to control the AGV robustly against sudden load changes. The other important point is that the vehicle should arrive to desired place but to track the desired trajectory. The designed controller provides this necessity successfuly. Key Words: Automated Guided Vehicle, Fuzzy Logic, PID Contollers, Trajectory Tracking.