On the design of AGV obstacle avoidance system based on fuzzy-PID dual-mode controller

The design of obstacle avoidance system for automated guided vehicles (AGVs) is widely known as a challenging task. This paper addresses this issue by exploiting a novel approach to combine the fuzzy logic control and conventional PID control into the controller design. Such dual-mode design can significantly promote the real-time performance of the obstacle avoidance system and effectively eliminate the blind spots and enables the system to reach the equilibrium points faster. The moving velocity and rotation angle of AGVs are proactively controlled via the fuzzy-PID dual-mode controller to avoid obstacles with graceful path and velocity changes.