Abstract
Different robots such as Automatic Guided Vehicles (AGVs) and Autonomous Mobile Robots (AMRs) need to know their position in a building in order to operate automatically and autonomously. They can receive the environmental data by Light Detection And Ranging (LiDAR) based on Simultaneous Localization and Mapping (SLAM) to perform autonomous control. Recently, 3D-LiDAR capable for three-dimensional measurement has been manufactured, but it is very expensive. In this paper, we propose an integrated system consisting of a 2D-LiDAR, a servo motor and Fuzzy Control module. Three-dimensional measurement is performed by fixing and rotating 2D-LiDAR by 1 Degree of Freedom (DOF) rotation mechanism. Fuzzy control is applied to suppress the vibration of the servo motor. We carried out an experiment to evaluate the proposed system. The experimental results show that when applying fuzzy control, the acceleration is decreased compared with the case of no fuzzy control.
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