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Civil-Comp Proceedings
ISSN 1759-3433
CCP: 14
Edited by: B.H.V. Topping and A.I. Khan
Paper XIV.3

Intelligent Control of Autonomous Mobile Robots based on Low Cost Sensors

K. Schilling, H. Roth and B. Theobold

FH Ravensburg-Weingarten, Weingarten, Germany

Full Bibliographic Reference for this paper
K. Schilling, H. Roth, B. Theobold, "Intelligent Control of Autonomous Mobile Robots based on Low Cost Sensors", in B.H.V. Topping, A.I. Khan, (Editors), "Information Technology for Civil & Structural Engineers", Civil-Comp Press, Edinburgh, UK, pp 277-284, 1993. doi:10.4203/ccp.14.14.3
Autonomously guided vehicles are a key component for the flexible flow of materials in the framework of factory automation. The aim is to transport in a typical industrial environment goods and to handle obstacles or path deviations with the on-board computing capabilities. This paper discusses the control architecture to perform this task on the basis of low cost sensors supported by suitable sensor data processing. In particular fuzzy control algorithms are presented, providing a robust approach for collision avoidance and docking to material transfer stations. The results are based on computer simulations and hardware tests.

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