Journal of Guangxi Normal University(Natural Science Edition) ›› 2015, Vol. 33 ›› Issue (1): 1-6.doi: 10.16088/j.issn.1001-6600.2015.01.001

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Path Deviation Control of Automatic Guided Vehicle

XU Lun-hui1,2, LIU Jing-ning1, ZHU Qun-qiang1, WANG Qing1, XIE Yan1, SUO Sheng-chao1   

  1. 1.Electrical Engineering and Automation Institute, Jiangxi University of Science and Technology, Ganzhou Jiangxi 341000, China;
    2.Institute of Civil and Traffic Engineering, South China University of Technology, Guangzhou Guangdong 510000, China
  • Received:2015-01-20 Online:2015-03-15 Published:2018-09-17

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Abstract: This paper aims at the AGV path deviation control with differential driven, and builds a motion model of AGV path deviation. Using mathematical methods to analyze the relationship between the path deviation and the wheel speed, and getting two driving voltage and deviation variable equivalent relationship through in-depth analysis, the structure diagram of the system is obtained. The system is the simplified to a system with double imput and single out put based on the condition of the diviation variables as the input and driving voltage difference as the output through fuzzy control. The simulation results show that the method has good ability of path correction.

Key words: AGV, differential driven, path deviation, fuzzy control

CLC Number: 

  • TP24
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