Motion Control of Mobile Robots Based on Fuzzy-PID

Abstract

An application of Fuzzy-PID in motion control of mobile robots is presented based on robot soccer system after analysing the kinematic model of mobile robots.The method combines PID control with fuzzy control.The accuracy is ensured by PID controller and the dynamic speed is improved by fuzzy controller.Furthermore, according to different error areas,the different PID parameters and different fuzzy control charts are applied, which enhance the control ability and simplify the design procedure.The validity is verified by simulation and experimental results in robot soccer system.Therefore,the control method based on Fuzzy-PID can be widely applied in robotics.