自适应模糊算法优化的足球机器人轨迹跟踪

为了提高足球机器人在运动控制过程中的轨迹跟踪性能和稳定性,将自适应模糊PID算法用于机器人运动控制环节中,对PID参数进行实时调整。建立足球机器人在场地上的控制系统模型,分析机器人在轨迹跟踪中由驱动方向、角度等时变因素导致的实际轨迹发生偏移的问题,分别在MATLAB-Simulink和SimRobot仿真平台对优化算法的性能进行仿真,同时与传统的PID控制进行对比。实验结果表明,自适应模糊PID算法相比传统的PID控制器在最大跟踪误差和平均跟踪误差方面分别减少20.18%和29.34%,同时提升了系统的稳定性。该控制算法提升了足球机器人的轨迹跟踪性能,满足机器人在运动过程中的动力学和控制要求,易于在工程中应用。

Trajectory Tracking of Soccer Robot Optimized by Adaptive Fuzzy Algorithm

In order to improve the trajectory tracking performance and stability of soccer robot in the process of motion control, the adaptive fuzzy PID algorithm was applied to the robot motion control, and the PID parameters were adjusted in real time. The control system model of soccer robot on the ground was established, and the actual trajectory deviation caused by time-varying factors such as motor driving direction and angle was analyzed. The performance of the optimization algorithm was simulated on MATLAB-Simulink and SimRobot simulation platforms, and compared with the traditional PID control. The experimental results show the adaptive fuzzy PID algorithm reduces the maximum tracking error and the average tracking error by 20.18% and 29.34% compared with the traditional PID controller ,and improves the stability of the system at the same time. The control algorithm improves the trajectory tracking performance of soccer robot, meets the dynamic and control requirements of the robot in the process of motion control, and is easily applied in engineering.