Auto steering control of unmanned container transport (UCT) with vision system and mediated immune algorithm controller

In this paper, we proposed an adaptive control method which is named CMIA mediated immune algorithm) controller to control unmanned container transport using in the harbor. It is based on specific immune response of the biological immune system which is the cell-mediated immune response. It is also applied for the autonomous guided vehicle (AGV) system which is manufactured in this paper. The AGV is used for the port automation to carry container manlessly and get uncertainty and nonlinearity because of running in the outdoor. To verify performance of the proposed CMIA controller, some experiments for the control of steering of that AGV are performed. Finally, the experimental results for the control of steering and speed of AGV system illustrate the effectiveness of the proposed control scheme. These results for the proposed method also show that it has better performance than other conventional controller design methods.