Trajectory Tracking Control of Mobile Robot Based on Self-Adaptive PID Combined with Preview and Fuzzy Logic
A new method for controlling the steering and trajectory of the electric mobile robot is proposed. In order to control the robot’s position and heading, the path error and the heading error of the robot are taken into the control closed loop. On the basis of the self-adaptive PID control method combined with preview theory and fuzzy logic, a trajectory tracking control system is designed. Finally, experiments and simulation are conducted to test the control system. Both experimental and simulation results show that the mobile robot can approach the target trajectory quickly and then move along it, which confirm the validity and the efficiency of the trajectory tracking control system.
D. L. Li et al., "Trajectory Tracking Control of Mobile Robot Based on Self-Adaptive PID Combined with Preview and Fuzzy Logic", Advanced Materials Research, Vol. 590, pp. 268-271, 2012