Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Design of Steering Controller for AGV using Immune Algorithm

면역 알고리즘을 이용한 AGV의 조향 제어기 설계에 관한 연구

  • Lee, Chang-Hoon (Dept. of Electrical Engineering, Dong-A University) ;
  • Lee, Jin-Woo (Dept. of Electrical Engineering, Dong-A University) ;
  • Lee, Young-Jin (Dept. of Electrical Instrument and Control, Korea Aviation Polytechnic College) ;
  • Lee, Kwon-Soon (Dept. of Electrical Electronics Computer Engineering, Dong-A University)
  • 이창훈 (동아대학교 전기공학과) ;
  • 이진우 (동아대학교 전기공학과) ;
  • 이영진 (항공기능대 전기계측 제어과) ;
  • 이권순 (동아대학교 전기전자컴퓨터공학부)
  • Published : 2002.07.10
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Abstract

Immune system is an evolutionary biological system to protect innumerable foreign materials such as virus, germ cell, and etcetera. Immune algorithm is the modeling of this systems response that has adaptation and reliability when disturbance occur. In this paper, immune algorithm is proposed to control four wheels steering AGV(Automated Guided Vehicle) in container yard. The adaptive immune system is applied to the PID controller. For design the PID controller using immune algorithm, we tune PID parameters by off-line manner, in order to avoid the damage from abrupt control force. Repeatedly, the PID parameters are adjusted to be accurate by on-line fine tuner of immune algorithm. And then the computer simulation result from the viewpoint of yaw rate and lateral displacement are analyzed and compared with result of conventional PID controller.

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