国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Conventional robot path tracking algorithms are unable to adjust the parameters of the PID controller in real-time during robot motion, resulting in poor path tracking performance of the robot. To solve this problem, a fuzzy adaptive tuning PID algorithm design for robot path tracking is proposed. Firstly, construct a robot system model, calculate the motion heading angle of the robot, and use the discrete coordinates in the reference coordinate system to describe the surface normal vector of the robot during the motion process based on the robot measurement system. Then, combined with the rotational discrete inertia coefficient, match the path feature points. Based on this, a fuzzy adaptive tuning PID algorithm is introduced to design a controller. By optimizing the internal parameters of the controller and adjusting the gain output of the controller, the path tracking of the robot is achieved. The application results of the example show that this method can accurately track the movement path of the robot, with small path tracking offset and good tracking performance.