Control of a Mobile Robot Based on Fuzzy and Fuzzy Adaptive PID

Abstract

Disposing the ultrasonic sensor on the mobile robot and fusing the information from the measured value,the system divides the environments into two types:the obstacle mode and the non-obstacle mode.In view of the oscillation problem under the non-obstacle mode based on the fuzzy control,this paper proposes that the fuzzy control is used for the obstacle mode and the fuzzy adaptive PID control is used for the non-obstacle mode,and establishes the simulation platform based on the MATLAB GUI.The simulation results indicate that the system has quick response speed and strong self-adaptive ability,and can realize safe track from the beginning to the static target point under the non-structural unknown environment.