In this article,with the focus on the danger of excessive slippage encountered by the heavy-duty Automatic Guided Vehicle(AGV)in port,the driving anti-slip design is proposed based on the optimal slip rate control.According to the characteristics of the port environment,the model of pavement adhesion characteristics is set up.The T-S pavement fuzzy identi-fier is used to design the port pavement fuzzy identifier;efforts are made to identify the peak longitudinal adhesion coefficient and the optimal slip rate,and then the identification results are imported in the optimal slip rate control,so as to improve the port AGV's driving anti-slip performance.Through the recognition experiment of the single road and the docking road,it is verified that the fuzzy identifier of port pavement is accurate in recognition.
port heavy-duty AGVdriving anti-slip designT-S pavement fuzzy identifieroptimal slip rate
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