油电混合果园自动导航车控制器硬件在环仿真平台设计与应用

吴应新, 吴剑桥, 杨雨航, 李沐桐, 甘玲, 贡亮, 刘成良

Design and Application of Hardware-in-the-Loop Simulation Platform for AGV Controller in Hybrid Orchard

Yingxin WU, Jianqiao WU, Yuhang YANG, Mutong LI, Ling GAN, Liang GONG, Chengliang LIU

表1 角度控制模糊规则表

Table 1 Fuzzy rules of angle control

模糊控制规则 规则一 规则二 规则三 规则四 规则五 角度偏差 NB NS ZO PS PB 期望角速度 PB PS ZO NS NB