激光导向车（LGV）的实时姿态检测及控制

The Real-time Detection of Pose and Control of Laser Guiding Vehicle (LGV)

提出了一种通过实时检测激光导向车的姿态来控制其行驶的方法，该方法的基本原理是依据激光接收阵的信息先推导出车的瞬间姿态（以角度偏差α和距离偏差Ｄ表征），然后对两驱动轮的速度进行控制；在新的模型车上的实验结果表明，这种方法明显提高了车的运行精度，可望用于实际的ＬＧＶ。

A method of controlling LGV through real time pose detection is proposed in this paper. That is to deduce first LGV' s instant pose (indicated by angle deviation a and distance deviation D)from the information from the laser receiver ,then control the two driving wheels'speed. The experiment results in new prototype indicate that the above method improves LGV's travel precision obviously,and is expected to be used in real LGV.