Fuzzy control of laser guided four-wheel drive AGV

ZHU Tian-yu， TAN Lin
（College of Mechanical Engineering， Chongqing University， Chongqing 400044， China）

Abstract： Aiming at four-wheel-drive AGV car path following problem，a kinematic model of the car was established and analyzed. With parameter tuning and fuzzy control theory，a fuzzy controller was designed. The controller with lateral deviation and angle deviation as input can reasoning and correct proportion parameter online. Each motor output speed was changed by adjusting the proportion parameter，which makes the AGV achieve better performance. The control system was simulated in Matlab-Simulink. The results indicate that the system follows in the linear and circular path on a good performance，the method is effect and feasibility.
Key words： automated guided rehicle（AGV）； fuzzy control； parameter self-tuning