采用模糊免疫PID控制的移动机器人避障误差仿真研究

当前,移动机器人运动规划路径较长,实际运动轨迹与理论运动轨迹误差较大。对此,设计了移动机器人模糊免疫PID控制系统,并对控制系统输出误差进行仿真验证。建立移动机器人平面简图,给出机器人运动方程式,采用平面栅格来描述机器人运动规划路径。引用传统PID控制器并进行改进,设计了模糊免疫PID控制系统,给出了移动机器人PID控制输出系统在线调节流程。采用MATLAB软件对机器人输出误差进行仿真,比较PID控制和模糊免疫PID控制输出误差大小。结果显示:移动机器人采用传统PID控制系统,稳定调节时间为1.0 s,产生的最大误差为0.83 mm,系统输出误差较大;移动机器人采用模糊免疫PID控制系统,稳定调节时间为0.5 s,产生的最大误差为0.59 mm,系统输出误差较小。移动机器人采用模糊免疫PID控制系统,响应速度快,追踪误差较小,从而提高系统的稳定性。

SIMULATION STUDY ON OBSTACLE AVOIDANCE ERROR OF MOBILE ROBOT CONTROLLED BY FUZZY IMMUNE PID

At present, the path of mobile robot motion planning is long, and the error between actual and theoretical trajectories is large. In this regard, a fuzzy immune PID control system for mobile robot is designed, and the output error of the control system is verified by simulation. The planar sketch of the mobile robot is established, the motion equation of the robot is given, and the planar grid is used to describe the path of the robot motion planning. The traditional PID controller is introduced and improved. The fuzzy immune PID control system is designed, and the on-line adjustment flow of the mobile robot''s PID control output system is given. The output error of the robot is simulated by using MATLAB software, and the output error of the PID control and the fuzzy immune PID control is compared. The results show that the mobile robot adopts the traditional PID control system, the stable adjustment time is 1.0s, the maximum error is 0.83mm, and the system output error is large; the mobile robot adopts the fuzzy immune PID control system, the stable adjustment time is 0.5s, the maximum error is 0.59mm, and the system output error is small. The mobile robot adopts the fuzzy immune PID control system, which has fast response speed and small tracking error, thus can improve the stability of the system.