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本文从自动导向车的运动学特性出发，分析自导车运动时偏差与车轮速度的关系，在此基础上推导出自导车的动态特性结构图并将它化简，然后解黎卡提矩阵方程获得具有二次型最优性能指标的最优反馈控制系统数学模型．本文还介绍了该控制系统数学模型在激光导向自导车上实现的情况和试验结果．这种数学模型对于采用两个电机独立驱动的自导车，均具有普遍的适应性．
In this paper, starting from the kinematics of the automatic guided vehicle, the relationship between the deviation of the self-guided vehicle and the wheel speed is analyzed. Based on this, the dynamic characteristics of the guided vehicle is deduced and simplified. Then, Obtain the optimal feedback control system mathematical model with quadratic optimal performance index. This paper also introduces the mathematical model of the control system in the laser-guided self-guided vehicles to achieve the situation and test results. This mathematical model for the use of two independent motor driven vehicles, are generally adaptable.