ファジィ推論による無人搬送車の操舵系制御

概要

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In recent year, fuzzy control has been applied to various industrial field and its availability has been reported. The purpose of application of fuzzy control is to realize the control performance using the experience of expert (control rules) with “If … Then …” rules. Now, easier operation and excellent performance of AGV (Automated Guided Vehicle) at high speed are required. The steering control of AGV with the conventional PI controller, however, becomes difficult to achieve the excellent performance. Therefore, the authors propose the steering control of AGV using fuzzy control, which can obtain stable steering control.In this paper, we discuss the optimal position of guide sensor and make an experiment in the straight traveling. We introduce many rules for fuzzy reasoning and discuss how to choose the rules for fuzzy reasoning and achieve the stable steering control. Then, the experiments of steering response for the step change of guide tape are carried out with the fuzzy control as well as the conventional PI control. The results of steering control using fuzzy control are better than that using PI control. It is confirmed that the proposed steering control is very available.
社団法人電気学会の論文