Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on Steering Performance Improvement of the AGV using Cell-Mediated Immune Algorithm

세포성 면역 알고리즘을 이용한 AGV의 조향 성능 향상에 관한 연구

  • Lee, Y.J. (Dept. of Electrical Eng., Dong-A Univ.) ;
  • Sohn, J.H. (Dept. of Electrical Eng., Dong-A Univ.) ;
  • Lee, J.W. (Dept. of Electrical Eng., Dong-A Univ.) ;
  • Cho, H.C. (Dept. of Electrical Eng., Dong-A Univ.) ;
  • Lee, K.S. (Dept. of Electrical, Electronic and Computer Eng., Dong-A Univ.)
  • 이영진 (동아대학교 전기공학과) ;
  • 손주한 (동아대학교 전기공학과) ;
  • 이진우 (동아대학교 전기공학과) ;
  • 조현철 (동아대학교 전기공학과) ;
  • 이권순 (동아대학교 전기전자컴퓨터 공학부)
  • Published : 2000.07.17
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Abstract

In this paper, cell-mediated immune algorithm(CMIA) controller was proposed and applied for the autonomous guided vehicle(AGV) driving. It was based on specific immune response of the biological immune system which is the cell-mediated immunity. To verify the performance of the designed CMIA controller, some experiments were performed for the control of steering and speed of AGV. And then the displacement and speed tracking error of the AGV was mainly investigated. As results, the capability of realization and reliableness were proved by comparing the response characteristics of the classical controller with the proposed CMIA controller.

Keywords