무인 반송차의 경로 추종에 관한 연구

초록

This paper proposes a method which can enhance the path-tracking performance of optically guided AGV(Automated Guided Vehicle). When AGV follows the guide path, it cannot be avoid the deviation from the path due to the inevitable error and the deviation mustbe corrected. This deviation is composed of two elements, so called orientation error and contour error. The algorithm which calculates orientation error and contour error from the status of sensors is developed in order to overcome the handicap of the optical sensor. And with the calculated information, a fuzzy logic controller is proposed to compensate both error simulaneously.