PID Control of Magnetic Navigation Differential AGV Trajectory

摘要：

　　This paper is based on a dual-wheel drive differential steering AGV.In order to solve the problem of AGV tracking,firstly,AGV is conducted with kinematically modeling; then the PID controller is designed with the ante deviation as input and left and right driving wheel speed difference as output; and finally,simulation verification is carried out in the MATLAB/Simulink environment.The simulation results show that the designed PID controller has good tracking performance in straight line and circular path and it has strong adaptability and high robustness.

作者: Hong-jie TANG Shao-jun SHI Pan-ling HUANG Ding WANG Jun ZHOU

作者单位: School of Mechanical Engineering,Shandong University,Jinan,250061;National Demonstration Center for Linyi Academy of Technology Cooperation and Application Linyi 276000

会议类型: 国际会议

会议名称: The 2017 2nd International Seminar on Applied Physics, Optoelectronics and Photonics (APOP 2017) (2017年第二届应用物理、光电子学和光子学国际研讨会)

会议地点: 上海

会议语种:英文

页码: 500-506

在线出版日期: 2017-12-30（万方平台首次上网日期，不代表论文的发表时间）