Trajectory Planning in Dynamic Environments for an Industrial AGV, Integrated with Fuzzy Obstacle Avoidance

摘要

This paper presents an hybrid approach to control a simulated AGV (Autonomous Guided Vehicle) for an automotive industry. The proposed approach integrates planning (and re-planning) based on the A* algorithm, with fuzzy obstacle avoidance, in order to avoid unknown or mobile obstacles present in the path of the AGV. The approach is evaluated in a simulated environment, and in the near future the approach is to be deployed in a real fabrication line.