TY  - JOUR
T1  - Control for Path Tracking of an AGV Robot
AU - Sarmiento G., Kevin S. AU - Laguna S., Oscar L. AU - Vasquez L., Javier E. AU - Hernandez B., Ruben D. AU - Sandoval, Carolina 
JO  - Journal of Engineering and Applied Sciences
VL  - 14
IS  - 9
SP  - 3137
EP  - 3143
PY  - 2019
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2019.3137.3143
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2019.3137.3143
KW  - Mobile robotics
KW  -directional control
KW  -path tracking
KW  -autonomous
KW  -application
KW  -implemented
AB  - This study presents the methodology used to develop a navigation system for autonomous robotic
vehicles using fuzzy control techniques and the application of computational vision algorithms for tracking a
particular mobile object in real time. The developed system consists of a robot of two wheels of differential
traction of which its kinematic model is presented, controlled remotely through a closed loop of control. The
computer vision technique is used for the perception of the environment through the camera embarked on the
vehicle. The technique of fuzzy control is implemented in the system to interpret and make the decisions of
action of the robot during navigation in a poorly structured environment in addition to the uncertainties
associated to the tracking of the objective through the image. Through the validations made for the fuzzy
control, the desired results are obtained that in this case corresponds to the monitoring of a given objective
in real time.
ER  -