Research on Optimized Motion Control of Soccer Robot Based on Fuzzy-PID Control

摘要

Motion control is an important part of the robot system in the MiroSot soccer robot system. At present, PID control method and fuzzy logic control method are commonly used. Due to the lag of image acquisition and the imprecision of image recognition, the motion of the robot is nonlinear and uncertain, and the traditional PID controller can not achieve excellent control effect. This paper proposes a motion control method of soccer robot based on fuzzy-PID control, in which the fuzzy control is adopted to ensure the control speed, while the PID control to ensure the control accuracy. The simulation and experiment prove that the improved motion control method has excellent reliability and effectiveness.