Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2001.07d
- /
- Pages.2386-2389
- /
- 2001
Neural Network Steering Controller of AGV Using MR Sensor
MR센서를 이용한 AGV의 신경회로망 조향제어
- Son, Seok-Jun (Dept. of Electrical Eng. and RRC, Chonnam Nat'l Univ.) ;
-
Ryoo, Young-Jae
(Dept. of Electrical Eng., Mokpo Nat'l Univ.)
;
- Kim, Eui-Sun (Dept. of Electrical Eng., Seonam Univ.) ;
-
Lim, Young-Cheol
(Dept. of Electrical Eng. and RRC, Chonnam Nat'l Univ.)
;
- Kim, Tae-Gon (Dept. of Electrical Eng. and RRC, Chonnam Nat'l Univ.)
- 손석준 (전남대학교 전기공학과 & RRC) ;
-
유영재
(목포대학교 제어계측공학과)
;
- 김의선 (서남대학교 전기전자 멀티미디어공학부) ;
-
임영철
(전남대학교 전기공학과 & RRC)
;
- 김태곤 (전남대학교 전기공학과 & RRC)
- Published : 2001.07.18
Abstract
This paper describes neural network steering controller for an AGV using MR sensor. The analytical magnetic fields model was compared with measured data and found to have less than 1 % difference. The neural network was also used to learn the steering behaviour of the AGV relative to the magnetic field values(Bx, By, Bz). A computer simulation of the AGV (including AGV's dynamics and steering) was used to verify the steering performance of the controller using the neural network. Good results were obtained. Also, the handmade AGV using neural network controller verified good results.
Keywords