The Research Of AGV Tracking Strategy Based-on Fuzzy Immune PI And Cross-coupling Control

Automated Guided Vehicles (AGV) can successfully reach its destination or move along a desired path in an environment characterized by a terrain. In allusion to multi driving wheels, fuzzy immune PI and cross-coupling control method is proposed to realize expectant tracking path in this paper, it may resolve an unforeseeable problem caused by parameter changes or disturbance of any one driving system. Because cross-coupling control is advantageous to restricting and harmonizing between multi driving wheels, it can reduce orientation error and improve the accuracy of path tracking effectively. Fuzzy immune control based on the theory of immune feedback, can make the system having definite adaptive capability and robustness, also its performance will be superior to conventional PI control.In this paper, the basal knowledge, motion model and error analysis of Automated Guided Vehicles are introduced particularly. The principles and the methods for designing cross-coupling control and fuzzy immune PI control are analyzed. Simulation results of three different control methods demonstrate that fuzzy immune PI and cross-coupling control method is feasible and valid.