Design of an Autonomous Transportation Robot in Intersections
This paper presents the design of an autonomous transportation robot in intersections, which can provide older and disabled people to go through the crosswalk safely with sensor information fusion and fuzzy controller design. In this study, the vision system makes the feedback of position offset, and declination angle through the fuzzy controller, the robot could modify the attitude error to cross the crosswalk automatically. If the information of obstacles in the forward path is supplied from the radar system, the function of collision avoidance will be executed. Besides, the navigation of the robot at a crosswalk interface point is also addressed which can help the robot to make a right turn or left turn to the next intersection. In cooperate with the intersectionagent system, the robot could pass through the next crosswalk safely in order to prevent the collision with other vehicles. The system has been demonstrated on the real road.
component transportation robot fuzzy control vision system crosswalk
Jau-Woei Perng Shao-Wei Lai Ho-Hsiang Fan Yueh-Ting Lin Cheng-Kang Chuang
Department of Mechanical and Electro-Mechanical Engineering National Sun Yat-Sen University Kaohsiung, Taiwan
国际会议
海口
英文
123-128
2011-07-15（万方平台首次上网日期，不代表论文的发表时间）