Motion Control of Omnidirectional Mobile Robot Based on Fuzzy PID

Abstract

The motion model of omnidirectional mobile robot is created, the fuzzy PID control method is designed, and the motion control parameters are adjusted online. Matlab is used to simulate the fuzzy PID control effect of the robot, and the actual test of the fuzzy PID controller on the robot path tracking control effect. Computer simulation and actual test results show that in the path tracking control of the robot, the fuzzy PID controller has faster response, smaller overshoot, less fluctuation, stable change and stronger system stability than the conventional PID controller.