| Mobile robot should be able to realize path planning, self-location and corresponding movements based on its apperceiving and understanding the environment information according to the task. Namely, mobile robot is a synthetical system incorporating multi-functions of environment apperceiving, dynamic decision making and planning and behavior controlling and performing. In this paper, a research has been carried out for wheeled mobile robot (AGV) used in FMS, including design of auto-navigating system, modeling and understanding techniques for environment, path planning techniques, positioning and navigation controlling techniques.(1) 3-TTR AGV with the most representative motion functions was selected as researching object. The motion state value and control value were analyzed. Then a method for solving the motion state value of the AGV transverse characteristic identification was introduced, and each motion function of 3-TTR AGV was analyzed.(2) A kind of combined navigation system for the XAUT·AGV100 developed by our institute was designed through the analysis of commonly used guiding styles of mobile robot, adopting coders and gyroscope to provide real-time guiding information to realize the path tracking, apperceiving the environment messages at the task points and part feature points by ultrasonic sensor to position. The combined navigation system had the following advantages: a good adaptability to the paths, high positioning accuracy at task points and low costs, etc.(3) A new environment modeling method and global path planning method were proposed on the basis of analyzing the usual methods for mobile robot. The environment model based on Pos Matrix of Machine and Relative Pos Matrix of Machines had the following advantages: simple data structures, good readability, easy data amendment, being expansible, etc. The global path planning algorithm based on probability had features of simple calculation, short planning time and good real-time characteristics.(4) A positioning method for XAUT·AGV100 using ultrasonic-sensors to constrain positioning was introduced by analyzing existing positioning method of mobile robot. The method was feasible by theoretical analysis and reliable by experiment. The position system had advantages of easy use, high positioning accuracy, and low cost.(5) The influencing factors, measuring methods, running conditions and warp model estimating methods of the AGV turning characteristics were analyzed. The effect on AGV by Multi-Step Predictive Control (MSPC) was also analyzed. The advantages of the control...
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