제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study for AGV Steering Control using Evolution Strategy

진화전략 알고리즘을 이용한 AGV 조향제어에 관한 연구

  • 이진우 (동아대학교 전기공학과) ;
  • 손주한 (동아대학교 전기공학과) ;
  • 최성욱 (동아대학교 전기공학과) ;
  • 이영진 (동아대학교 전기공학과) ;
  • 이권순 (동아대학교 저기전자컴퓨터공학부)
  • Published : 2000.10.01
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Abstract

We experimented on AGV driving test with color CCD camera which is setup on it. This paper can be divided into two parts. One is image processing part to measure the condition of the guideline and AGV. The other is part that obtains the reference steering angle through using the image processing parts. First, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, AGV knows the driving conditions of AGV. After then using of those information, AGV calculates the reference steering angle changed by the speed of AGV. In the case of low speed, it focuses on the left/right error values of the guide line. As increasing of the speed of AGV, it focuses on the slop of guide line. Lastly, we are to model the above descriptions as the type of PID controller and regulate the coefficient value of it the speed of AGV.

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