Research on Robot Tracking of Books Returning to Bookshelf Based on Particle Swarm Optimization Fuzzy PID Control

摘要

In order to avoid library intelligent returning books to bookshelf robot during the process of searching for books and bookshelves, the tracking time is long and the path deviation is large. The system uses a navigation system based on a fuzzy PID controller based on particle swarm optimization to avoid problems such as empirical parameter selection and parameter invariance in fuzzy PID control. The particle swarm optimization algorithm is used to optimize the controller parameters, enhance the controller's adaptive ability, and improve its control accuracy. Experiments show that the system improves the accuracy of the path, and has a faster response speed and higher tracking accuracy when moving.