Characterization of a trajectory recognition optical sensor for an automated guided vehicle

Author

Borges, Geovany Araújo ; Lima, Antonio Marcus Nogueira ; Deep, Gurdip Singh

Author_Institution

Dept. of Electr. Eng., Univ. des Sci. et Tech. du Languedoc, Montpellier, France

Volume

49

Issue

4

fYear

2000

fDate

8/1/2000 12:00:00 AM

Firstpage

813

Lastpage

819

Abstract

Characterization of a relatively simple optical sensor used for recognition of the desired fixed trajectory for an automated guided vehicle, painted on an industrial shop floor, is described. The optical sensor consists of 14 infrared emitter-detector pairs arranged in two columns and is fixed underneath the vehicle chassis. A microcomputer-based test platform for evaluation of the proposed sensor is also described. The sensor performance is evaluated using two geometrical algorithms and one based on neural networks, with the latter giving better results

Keywords

automatic guided vehicles; backpropagation; image sensors; industrial robots; infrared detectors; materials handling; multilayer perceptrons; path planning; position control; robot vision; IR emitter-detector pairs; IR image sensors; automated guided vehicle; backpropagation; desired fixed trajectory; geometrical algorithms; industrial shop floor; microcomputer-based test platform; mobile robot motion planning; multilayer perceptrons; navigation; neural networks; nonlinear neurons; sensor performance; trajectory control feedback loop; trajectory recognition optical sensor; Character recognition; Global Positioning System; Image sensors; Mobile robots; Navigation; Neural networks; Optical sensors; Remotely operated vehicles; Sensor phenomena and characterization; Sonar;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.863930

Filename

863930