Simulation Experiment on Travelling Path Control of Differential Wheeled Pipeline Robot

摘要

For the travelling path control problem of differential wheeled pipeline robot, this paper proposes an approach to measure the velocities of drive wheels by photoelectric encoder, and gets trajectory curves of drive wheels on the experimental platform. Based on simulation of trajectory curves, fuzzy PID control of pipeline robot is fulfilled in straight travelling process. After PID parameters are implemented on the experimental robot fine control effectiveness is achieved.