면역알고리즘을 이용한 AGV의 적응제어에 관한 연구

• 영문명: A Study on Adaptive Control of AGV using Immune Algorithm
• 발행기관: 한국항해항만학회
• 저자명: 이영진(Y. J. Lee) 최성욱(S. W. Chio) 손주한(J. H. Sohn) 이진우(J. W. Lee) 조현철(H. C. Cho) 이권순(K. S. Lee)
• 간행물 정보: 『한국항해항만학회 학술대회논문집』2000 춘계학술대회논문집, 56~63쪽, 전체 8쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2000.11.30

영문 초록

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 case 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.

목차

1. 서론

2. AGV의 수학적 모델링

3. 면역알고리즘을 이용한 제어기 설계

4. 컴퓨터 시뮬레이션

5. 결론

키워드

Immune Algorithm Neural Network Identifier Adaptive Control Autonomous Guided Vehicle(AGV) PID Controller