Stable AGV navigation based on visual and ultrasonic data fusion

EDUARDO FREIRE; CARLOS SORIA; RICARDO CARELLI

Buenos Aires, Argentina

Congreso; XX Congreso Argentino de Control Automático, AADECA06; 2006

Asociación Argentina de Control Automático, federada IFAC

This work presents a stable AGV navigation system based on the position of the robot with respect to the centerline of the corridor, which is estimated using the data fusion from ultrasonic and vision sensors. The controller generates angular velocity commands to keep the robot navigating along the corridor, and compensates for the dynamics of the robot. The stability of the resulting control system is analyzed. Experiments on a laboratory robot are presented to show the feasibility and performance of the proposed control system.