Multi-differential wheel cooperative control method

The invention discloses a multi-differential wheel cooperative control method. The differential steering wheel is of a unique double-wheel structure, is high in bearing capacity and is particularly suitable for being applied to the AGV in the super-heavy-load field. However, due to the special structure of the differential wheel, the left wheel and the right wheel in the wheel train are mutually limited when the wheel trains move, and meanwhile the multiple wheel trains matched on the same AGV are rigidly restrained by the vehicle body. Wheel trains and the interiors of the wheel trains are mutually restricted and are seriously coupled, so that the tracking flexibility of the whole vehicle is insufficient. Therefore, according to the high-precision multi-differential-wheel cooperative control method, the control law based on deviation and the control law based on driving capacity are combined, the pose deviation correction requirement and the wheel train motion capacity can be effectively coordinated, errors