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A Study for Color Recognition and Material Delivery of Distributed Multi Vehicles Using Adaptive Fuzzy Controller

적응 퍼지제어기를 이용한 분산 Multi Vehicle의 컬러인식을 통한 물체이송에 관한 연구

  • Published : 2001.02.01

Abstract

In this paper, we present a collaborative method for material delivery using a distributed vehicle agents system. Generally used AGV(Autonomous Guided Vehicle) systems in FA require extraordinary facilities like guidepaths and landmarks and have numerous limitations for application in different environments. Moreover in the case of controlling multi vehicles, the necessity for developing corporation abilities like loading and unloading materials between vehicles including different types is increasing nowadays for automation of material flow. Thus to compensate and improve the functions of AGV, it is important to endow vehicles with the intelligence to recognize environments and goods and to determine the goal point to approach. In this study we propose an interaction method between hetero-type vehicles and adaptive fuzzy logic controllers for sensor-based path planning methods and material identifying methods which recognizes color. For the purpose of carrying materials to the goal, simple color sensor is used instead vision system to search for material and recognize its color in order to determine the goal point to transfer it to. The proposed method reaveals a great deal of improvement on its performance.

Keywords

Adaptive Fuzzy Controller;Intelligent Vehicle;Material Flow Automation;Distributed Control System;Color Recognition

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