Fuzzy-PID based deviation-correcting control system for laser guided AGV

The primary focus of this work is exploitation of an intelligent control scheme to carry out deviation-correcting control for automated guided vehicles (AGVs). The proposed solution aims to be less sensitive to the parameter uncertainty, load and parameter variations, as well as meet the real-time requirement. This paper describes the deviation-correcting (position deviation and orientation deviation) control system based on fuzzy-PID analyze its performance with the laser guided AGV. The performance is evaluated through simulation experiments and the result demonstrates that the adopted fuzzy-PID control outperforms the conventional PID schemes, particularly in terms of many aspects, including response speed, steady-state error, control chatter, deviation correcting and robustness.