Method for Robot Path Tracking Based on Fuzzy Adaptive Tuning PID Control
Conventional robot path tracking algorithms cannot adjust the parameters of Proportional Integral Derivative(PID)controller in real-time during robot motion,resulting in poor path tracking performance of robots.To solve this problem,a fuzzy a-daptive tuning PID algorithm for robot path tracking is proposed.Firstly,construct the robot system model,calculate the robot's mo-tion heading angle,and describe the surface normal vector of the robot during motion using discrete coordinates in the reference coor-dinate system based on the robot measurement system.Then,the path feature points are matched by combining the rotational discrete inertia coefficient.Based on this,the fuzzy adaptive tuning PID algorithm is introduced to design a controller.By optimizing the inter-nal parameters of the controller and adjusting its gain output,the robot's path tracking is achieved.The application results of the ex-ample show that this method can accurately track the movement path of the robot,with a small path tracking offset and a path offset of below 0.5 units.It has a good tracking performance is good,and itsF1value is closer to 1.
万方数据
维普
