中文摘要：

设计了前两轮从动、后两轮差动驱动的四轮底盘结构AGV。在考虑非完整约束和轴承摩擦力的基础上,结合牛顿力学方法和矩阵分析方法建立了以运动速度和转弯角速度为状态变量的AGV非完整状态空间方程;使用全状态反馈的极点配置法建立了运动控制方程,采用DS87C520和PSD813F2设计了其嵌入式运动控制器。仿真和实验证明了非完整状态空间方程、运动控制方程和嵌入式运动控制系统的可靠性、实时性和稳定性。

英文摘要：

An AGV of two front passive wheels and two rear differential- driven wheels was designed. Tt;e nonholonomic state space equations in the flexible mode was obtained with the Newton method and the matrix analysis method taking the nonholonomic constraints and the friction force of the bearings into account and considering the motion speed and the turning veloeity to be as the state parameters. Meanwhile, the motion control equation was designed with the full state feedback pole placement method,and the embedded control system of the DS87C520 controller and the PSD813F2 chips was also developed. The reliability, real-time and robust qualities of the nonholonomic state space, and the embedded control system were approved and validated with the simulation and the experiments. At last, some conclusions were drawn.