基于PID的移动机器人运动控制系统设计与实现
杜孝平,赵凯琪
Design and implementation of the motion control system of the mobile robot based on PID
Xiao-ping DU,Kai-qi ZHAO
通信学报 . 2016, (Z1): 43 -49 .  DOI: 10.11959/j.issn.1000-436x.2016246