基于PID算法的双轮差动式移动机器人导航研究

PID,,(,1104)GuidaneeofDifferentialWheelMobileRobotBasedonPIDBAOJin,HUMing,GUXiaoyu(SehoolofMeehaniealEngineeringandAutomation,NortheasternUniversity,Shenyang110004,China):,PID,:;AGV;;;PID:TP273:A:10012257(2008)02006603Abstract:Basedonstudyingequationofkine-maties,doingagreatnumberofexperimentsandusingeleetronieeompassandPID,authoreomesupwithamethodthateanbeappliedtorealtimemonitor,eorreetorientationandguideroboteor-reetly,andprepareforsolvingproblemaboutloeal-izationofrobot.It15Provedthatthemethod15fea-sible,eonvenienttoeontrol.Keywords:mobilerobot;AGV;eleetronieeom-pass;ehipmieroeomputer;PID2O,,,:2007092411.1,2,3,2,,[3j1.2AGVAGV,PC,,AGVAT89C512,2,2AGVAGV,PCRS4852AGV,HMR300o,AGV,,AGV2008(2)8,414,,AGV(,+180),AGV,PIDAGV,AGV,AGV,AGV;,(k)PID:(k)+1800,AGV,AGV:V:KPe(k)+K,e(j)+KD[e(k)J=0e(k1)+V:(k),AGV,AGV:V:KPe(k)+K,e(j)+K[e(*)!_.}--11J0e(k1)+V*,PID,,AGVPID2:x,x(a),:,aretanI1Ox:x0(b)xl=x,/26,,U)V,,---2AGVPIDxx:yl}----------,0o,,arotan,}(d):,,13PIDePID,:u(*,KPe(*)+K,e(j)+K[e(k)=0e(kl)+uKPK:K(k)ku(k),KP,K:,KD((2008(2)44.1AGv,AGVX,,Y;,AGV(x,y,00),x,y,00AGV(xl,y,),AGV(x,y)(x;,y;),,,AGV,AGV,AGV,PID,34.2,AGV,a45,(:~5000,,=5000)=0,67(x,,6)))3AGVT15,mmAGV4,(x.,,:,,4.2.4,,,,,,AGV,,,AGV,105,PIDAGV,,GPSAGV4AGV4.2.1AGV,j,AGV,,AGV,AGV4.2.2,RS485,,,,,[6j4.2.3,68:1DunkinAnn.AnintroduetionofsystemJ.IndustrialEngineering,AutomatedGuidedVehiele,1994,(8):4751.[2.[J.,2006,11:610.[3],,.J.,2005,(6):3134.4]BalaerandranV.GeneralizedTransportarionNetworkswithStoehastieDemands:AnOPeratorTheoretieAP-proaehNetworks[Z.1979,(9):169184.[s]LeopoldoJetto,etal.DevelopmentandExperimentalValidationofanAdaptiveExtendedKalmanFiterfortheLoealizationofMobileRObots[J.IEEETran:RO-botiesandAutomation,1999,15(2):219229.[6,,.[J.,2000,(2):1316.:(1982),,,,;(1962),,,,2008(2)