The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
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An AGV Driving Control using immune Algorithm Adaptive Controller

면역알고리즘 적응 제어기를 이용한 AGV 주행제어에 관한 연구

  • Lee, Yeong-Jin (Dept.of Electronics Engineering, Donga University) ;
  • Lee, Gwon-Sun (Dept.of Electric Electronics Computer Engineering, Donga University) ;
  • Lee, Jang-Myeong (Dept.of Electronics Engineeing, Graduate School of Busan National University)
  • Published : 2000.04.01
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Abstract

In this paper, an adaptive mechanism based on immune algorithm is designed and it is applied for the autonomous guided vehicle(AGV) driving. When the immune algorithm is applied to the PID controller, there exists the cast that the plant is damaged due to the abrupt change of PID parameters since the parameters are adjusted almost randomly. To solve this problem, a neural network is used to model the plant and the parameter tuning of the model is performed by the immune algorithm. After the PID parameters are determined in this off-line manner, these gains are then applied to the plant for the on-line control using immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough intially, the weighting parameters are adjusted to be accurate through the on-line fine tuning. The computer simulation for the control of steering and speed of AGV is performed. The results show that the proposed controller has better performances than other conventional controllers.

Keywords

References

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