Embedded fuzzy logic control of AGV in path tracking

This paper presents a microcontroller implementation of a fuzzy control algorithm applied to the self-developed AGV platform. The method applies fuzzy control theory to obtain the appropriate velocities of left wheel and right wheel by selecting optimal parameter of fuzzy logic controller. In order to put the fuzzy controller into operation, the run-time inference is reduced to a table look-up which significantly improves the execution speed. In order to simulate the robustness of the controller, the kinematic model of differential-drive AGV is present.