• Proceedings of the Korean Operations and Management Science Society Conference
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• 2005.05a
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• pp.1117-1123
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• 2005

This paper deals with a new automated guided vehicle (AGV) control system for distributed control. Proposed AGV control system adapts the multi-agent technology. The system is composed of two types of controller: routing and order. The order controller is in charge of assignment of orders to AGVs. Through the bidding-based negotiation with routing controllers, the order controller assigns a new order to the proper AGV. The order controller announces order information to the routing controllers. Then the routing controllers generate a routing schedule for the order and make a bid according to the routing schedule. If the routing schedule conflicts with other AGV's one, the routing controller makes an alternative through negotiation with other routing controllers. The order controller finally evaluates bids and selects one. Each controller consists of a set of agents: negotiation agent, decision making agent and communication agent. We focus on the agent architecture and negotiation-based AGV scheduling algorithm. Proposed system is validated through an exemplary scenario.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.7
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• pp.313-317
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• 2001

This paper proposed a fuzzy logic cross coupled controller which can enhance the path tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV follows the guide path, it cannot be avoid the deviation from the path due to the inevitable error and the deviation must be corrected. Optically guided AGV used in industrial area is controlled by On-Off controller generally, the experimental AGV has three optical sensors in front body. In this structure, we could not know the leaving distance accurately and steering angle from the guided line, so AGV could not be controlled properly with conventional controller in the case of increasing or decreasing velocity. If we mount additional sensors the AGV, we could know the leaving distance and steering angle from the guided line and proper error compensating methode can be applied. But because cost of sensors are high, the cost of total system is increasing. So, in this paper, to improve the tracking performance of AGV which has the minimum number of sensors and fuzzy logic cross coupled controller is proposed. Some simulations and experimental results are presented to illustrate the performance of the proposed controller.

• Journal of the Institute of Convergence Signal Processing
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• v.20 no.3
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• pp.118-124
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• 2019

Recently, the industrial field has been changed to the smart factory system based on information and communication technology (ICT) in order to improve productivity, quality and customer satisfaction. The most important machine to realize the smart factory is the AGV(automatic guided vehicle) and the adoption of AGV is increasing. Generally, AGV is developed using general purpose PLC(Programmable Logic controller), but the price of AGV is expensive and its volume is large. On the other hand, the industrial field due to space constraints in the workplace is required the low cost AGV which can be minimization, expansion of function, and easily reconfiguration. Therefore, in order to solve these problems, this study is proposed a design method of AGV controller with built-in PLC, and evaluated its performance. In the results of the experimentation, it showed good performance (speed control error = 0.021[m/s], posture control error=2.1[mm]) for the speed and posture control. In this way, when applying the proposed AGV controller in this study to the industrial filed, it is possible to reduce the size and reconfigure at low cost.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.95-97
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• 1997

This paper deals with design and implementation of the controller for optically guided AGV. When AGV has only three photo sensors in front of body, AGV doesn't know how much the entry angle to guide line is. In this case, it is difficult to compensate the tracking error. To make sure that the AGV does not secede the guide line in tracking, PI controller and fuzzy logic controller is proposed. The proposed controller was verified and experienced through real AGV system.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2386-2389
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• 2001

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.

• Journal of Korean Institute of Industrial Engineers
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• v.29 no.1
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• pp.1-13
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• 2003

In this paper, LAC(Look-ahead AGV Controller) has been developed for efficient routing of parts in semiconductor and LCD production systems. Several procedures have been developed as sub-modules. LACP(Look-ahead AGV Control Procedure) which controls AGVs using the information on the current and future status of the systems is the main element of the LAC. To support LACP, DSP(Destination Selection Procedure) which determines a destination of a part and AGV call time, SSP(Source Selection Procedure)which selects a part coming next to a buffer when the buffer becomes available. and RTM(Response Time Model) which estimates empty travel time of AGVs and waiting time for an available AGV have been developed. A simulation experiment shows that LAC reduces part's flow time, AGV utilization, average and maximum inventory level of a central buffer, empty travel time of an AGV, and waiting time for an available AGV.

• 연구논문집
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• s.22
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• pp.27-38
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• 1992

We deals with stationary layout control system of AGV. It is a intelligent control system to he wholly charged control PC a layout information and guided command and to be controlled a vehicle driving, steering, safety of natural functions of AGV. Fieldbus concentrator of stationary layout control system serves control command from control PC and status information of AGV. Telegram software monitors transmitted command and status information through IR(JnfraRed) modem. Especially it is possible to easily network to use not an exclusive controller of AGV but personal computer(PC) when communicate and interface a different kind of controller.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.10
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• pp.827-836
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• 2001

The PID controller has been widely applied to the most control systems because of its simple structure and east designing. One of the important points to design the PID control system is to tune the approximate control parameters for the given target system. To find the PID parameters using Ziegler Nichols(ZN) method needs a lot of experience and experiments to ensure the optimal performance. In this paper, CMIA(Cell Mediated Immune Algorithm) controller is proposed to drive the autonomous guided vehicle (AGV) more effectively. The proposed controller is based on specific immune responses of the biological immune system which is the cell mediated immunity. To verify the performance of the proposed CMIA controller, some experiments for the control of steering and speed of that AGV are performed. The tracking error of the AGV is mainly investigated for this purpose. As a result, the capability of realization and reliableness are proved by comparing the response characteristics of the proposed CMIA controllers with those of the conventional PID and NNPID(Neural Network PID) controller.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2572-2574
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• 2000

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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.988-991
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• 2003

In this paper, we try to develop the controller which uses the block diagrams of SIMTool and internal functions CEMTool for planning the global driving controller for high efficiency AGV. We acquire the control efficiency by controlling the motor used each part of AGV driving controller. The block diagram structures provided with SIMTool is easily designed by the controller, and the monitoring and analysis of the results is researched by simulation. We expect to control AGV. robot and various plant using Ziegler-Nichols auto-tuning method and external I/O board