AGV steering controller using NN identifier and cell mediated immune algorithm

In this paper, CMIA (cell mediated immune algorithm) controller was proposed to drive the autonomous guided vehicle (AGV) more effectively. The proposed controller was based on specific immune response 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 of that AGV are performed. The tracking error of the AGV was mainly investigated for this purpose. As a result, the capability of realization and reliability were proved by comparing the response characteristics of the proposed CMIA controllers with those of the conventional PID and NNPID (neural network PID) controller.