摘要
本文对地下无轨车辆自主导航控制器进行了研究,设计出了PID多偏差导航控制器和模糊控制导航控制器,并对这两种导航控制器进行了分析比较,针对PID多偏差导航控制器给出了导航控制算法,该导航控制算法融合了绝对定位与相对定位的优点,能够满足地下无轨车辆的导航控制要求。
This paper examines the autonomous navigation controller of underground vehicles,PID multi-errors navigation controller and fuzzy navigation controller are designed,and two navigation controllers are analyzed and compared,and the navigation control algorithm is given for the PID multi-errors navigation controller,the navigation control algorithm has the advantages of the absolute positioning and relative positioning,it can meet the navigation control requirements of underground vehicles.
出处
《矿冶》
CAS
2010年第4期79-84,87,共7页
Mining And Metallurgy
基金
国家"十一五"科技支撑计划支持项目(2006BAB11B04)
关键词
地下
车辆
自主导航
算法
underground
vehicle
autonomous navigation
algorithm
