| Automated Guided Vehicle(AGV)is an automatic transportation vehicle without driver. With a certain amount of weight, it can travel between the departure and the destination. AGV is the key equipment of automatic material flow system and flexible manufacturing system.Today, AGV is widely used in various fields such as machinery industry, automatic storehouse, and material flow center and so on in developed countries. With the development of economy in China, some enterprises also start to apply AGV now.According to the navigation methods, AGV can be classified into different types. Among them, the magnetic inductive guiding method is mainly used for the most of commercial AGV. Although its technology is quite mature, it still presents some shortcomings,such as high cost and long period of the long navigation path building and Path maintenance, difficultly modification. As a result, it lacks better navigation flexibility. Further more, this type of AGV cannot work at the place where there is serious electromagnetic disturbanceComputer vision has been taken as the most ideal navigation method for AGV. With the rapid development of CCD system and image processing technology, Navigation method based on computer vision becomes feasible today. IV group has developed commercial AGV which navigates based on computer vision, this new type of AGV has the best navigation flexibility and higher artificial intelligence.For commercial AGV, accuracy, smooth and steady quality of navigation and fast adjusting quality to the deviation are the significant targets of its performance. The design of steering controller is the key to guarantee it, and this is the dissertation research substance. This paper is made up of five parts: 1. the foundation of AGV kinematics model and driving system identify. 2. the optimal steering controller design of AGV. 3. the fuzzy steering controller design of AGV. 4. the fusion of steering controller 5..emulation and experimentation of steering controller.In the first part of this paper, AGV kinematics model is founded based on AGV 's structure features and relative motion relations with lane. Static feature and dynamic feature of driving system is analyzed. By applying M sequence signals as input response signals, driving system identify is finished using least square means . After getting the driving system's transfer function, simulation of it is done. Simulation analysis and experimental results indicate that the mathematical model of the speed regulating system is correct and can be used for actual work system.In section of the optimal controller design, state space model of the system is founded using AGV's kinematics model and driving system transfer function obtained before. The analysis has been done to controllability, observability and stability of system. Analysis results show that the system open cycle is not steady. Yet the system is controllable and observable, so it may become closed loop steady by means of the pole configuration. Because it is the linear time invariant system ( LTI ),the paper choose the linear quadratic form optimal controller design scheme in the contemporary control theory by applying the modern optimal control theory. By means of analysis to step response diagram and poles diagram of the closed loop system, the matrixes Q and R that represent the weight of control process and control expense are fixed reasonable. And then obtain the optimal state feedback array K, and finish design of optimal controller of AGV. Simulation and experimental results show that the designed controller can realize accurate and stable navigation control and it has the well steady-state characteristic and adaptability to the changes of speed. At the same time, it also validates the above mathematical model of the control system.In order to resolve shortage of slow adjusting to big deviation of optimal controller, it research on fuzzy controller below. Fuzzy controller summarizes operator's experience to control rules correctly. It has good features of high flex...
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