Research on Motion Control of Mobile Robot with Fuzzy PID Arithmetic

摘要：

Through analysis the kinematics model of Dongfeng IIsoccer robot, considering time change, nonlinear and other characteristics of this system, a fuzzy PID. Parameter self-tuning PID control method combining fuzzy control with traditional PID control is present. To contrapose the problems of robot soccer motion system, the methods of dynamically regulate the three PID parameters (kp, ki, kd) based on fuzzy control is present. The improve of control effect is verified by experimental result.

关键词： mobile robot motion control four wheeled omni-directional robot fuzzy PID

作者: Tian Qi Cheng Li Wang Kai Liu Yan

作者单位: The Second Artillery Engineering College,Xian 710025 China

会议类型: 国际会议

会议名称: 2009 9th International Conference on Electronic Measurement & Instruments(第九届电子测量与仪器国际会议 ICEMI2009)

会议地点: 北京

会议语种:英文

页码: 2491-2494

在线出版日期: 2009-08-16（万方平台首次上网日期，不代表论文的发表时间）