| Title |
An AGV Driving Control using immune Algorithm Adaptive Controller |
| Authors |
이영진(Lee, Yeong-Jin) ; 이권순(Lee, Gwon-Sun) ; 이장명(Lee, Jang-Myeong) |
| Keywords |
Immune Algorithm ; Adaptive Control ; PID Controller ; Neural Network Identifier ; Driving Control ; Autonomous Guided Vehicle(AGV) |
| 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. |