农机化研究Issue(11)：123-127,5.
差速转向农业专用 AGV 小车的设计与模糊控制研究
Study on Fuzzy Control of an Agricultural Dedicated AGV with Differential Steering
摘要
Abstract
As a common platform for agricultural operations , agricultural automatic guided vehicle ( AGV ) is a kind of robot that is particularly designed for specific application environment .It is becoming more and more important in agricul-tural automatic .An AGV used in automation of modern agriculture based on multi axis motion controller is proposed .Ai-ming at AGV path following problem ,a kinematic model of the AGV is established and analyzed .Then a fuzzy controller with distance deviation and angle deviation as inputs , difference of left and right wheel ’ s speed as output is designed , based on fuzzy control theory .Finally , the control system is simulated in the simulink module of the Matlab platform . The results indicated that the system follows in the linear and circular path on a clear advantage than the conventional PID control system .Its effectiveness and feasibility has been verified .关键词
农业专用AGV/差速转向/多轴运动控制器/模糊控制/轨迹跟踪Key words
agricultural dedicated AGV/differential steering/multi axis motion controller/fuzzy control/trajectory tracking分类
农业科技引用本文复制引用
赵晨宇,陈息坤..差速转向农业专用 AGV 小车的设计与模糊控制研究[J].农机化研究,2016,(11):123-127,5.基金项目
上海市科委重点项目 （）
