Abstract:

Through analysis of the kinematics model of soccer robot,with time change,nonlinear and other characteristics of this system in consideration,a control method combining fuzzy control with traditional PID control is presented.To solve the problems of robot soccer motion system,the methods of dynamically regulate the three PID parameters (k_p,k_i,k_d) based on fuzzy control is proposed.The improvement of control effect is verified by experimental result.

Key words: mobile robot;motion control;four wheeled omni-directional robot;fuzzy PID