RT Journal Article
T1 AGV Fuzzy Control Optimized by Genetic Algorithms
A1 Sierra-García, Jesús Enrique
A1 Santos Peñas, Matilde
AB Automated Guided Vehicles (AGV) are an essential element of transport in industry 4.0. Although they may seem simple systems in terms of their kinematics, their dynamics is very complex, and it requires robust and efficient controllers for their routes in the workspaces. In this paper, we present the design and implementation of an intelligent controller of a hybrid AGV based on fuzzy logic. In addition, genetic algorithms have been used to optimize the speed control strategy, aiming at improving efficiency and saving energy. The control architecture includes a fuzzy controller for trajectory tracking that has been enhanced with genetic algorithms. The cost function first maximizes the time in the circuit and then minimizes the guiding error. It has been validated on the mathematical model of a commercial hybrid AGV that merges tricycle and differential robot components. This model not only considers the kinematics and dynamics equations of the vehicle but also the impact of friction. The performance of the intelligent control strategy is compared with an optimized PID controller. Four paths were simulated to test the approach validity.
PB Oxford Academic
YR 2024
FD 2024-03-23
LK https://hdl.handle.net/20.500.14352/112244
UL https://hdl.handle.net/20.500.14352/112244
LA eng
NO Sierra-Garcia, J. E., & Santos, M. (2024). AGV fuzzy control optimized by genetic algorithms. Logic Journal of the IGPL, jzae033.
DS Docta Complutense
RD 5 abr 2025