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퍼지제어기를 이용한 분산 Multi Vehicle의 Color인식을 통한 물체이송 연구
우지민,경제문,최승민,김훈모 기계기술연구소 2000 성균관대학교 논문집 기계기술편 Vol.2 No.1
In this paper, we present a collaboration method for material delivery with distributed vehicle agents system. Generally used AGV(Autonomous Guided Vehicle) systems in FA need extraordinary facilities like guidepaths, landmarks and have lots of limitation for applying in various environments and in case of controlling multi vehicles including different types is increasing nowadays for automation of materials between vehicles including different types is increasing nowadays for automation of material of material flow. Thus to compensate and improve functions of AGV, it is important to endow vehicles with intelligence to recognize environments, goods and determine goal point to approach. In this study we propose interaction method between hetero-type vehicles and fuzzy logic controller for sensor based path planning method and material identifying method by recognizing color. For the purpose of carrying materials to the goal, instead of intricate vision system, simple color sensor is used to search for material, and recognize its color to determine goal point to transfer it to. The ability for proposed method will be demonstrated by computer simulation and experiment.
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