Characterization of a neural network-based trajectory recognition optical sensor for an automated guided vehicle

Author

Borges, G.A. ; Lima, A.M.N. ; Deep, G.S.

Author_Institution

Dept. de Engenharia Eletrica, Univ. Fed. do Parana, Curitiba, Brazil

Volume

2

fYear

1998

Firstpage

1179

Abstract

Characterization of a relatively simple optical sensor system used for recognition of the desired fixed trajectory for an automated guided vehicle, painted on an industrial shop floor, is described. The optical sensor consists of 14 IR emitter-detector pairs arranged in two columns and is fixed underneath the vehicle chassis. A microcomputer-based test platform for evaluation of the proposed sensor is also described. The sensor performance is evaluated using geometrical algorithms and one based on neural networks, the latter giving much better results

Keywords

automatic guided vehicles; backpropagation; computerised navigation; image sensors; multilayer perceptrons; optical sensors; optical tracking; path planning; position control; robot vision; IR emitter-detector pairs; automated guided vehicle; backpropagation; desired fixed trajectory; geometrical algorithms; industrial shop floor; microcomputer-based test platform; multilayer perceptrons; navigation control; neural network-based; nonlinear neurons; normalised position index; painted trajectory; sensor performance; tracking system; trajectory recognition optical sensor; Automatic control; Character recognition; Control systems; Global Positioning System; Infrared detectors; Mobile robots; Navigation; Neural networks; Optical sensors; Remotely operated vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference, 1998. IMTC/98. Conference Proceedings. IEEE

Conference_Location

St. Paul, MN

ISSN

1091-5281

Print_ISBN

0-7803-4797-8

Type

conf

DOI

10.1109/IMTC.1998.676910

Filename

676910