Application of Fuzzy PID in Walking along the Wall Strategy of Mobile Robot. Issue 1 (1st December 2022) - Lin, Zifei
Abstract: Aiming at the walk-along-the-wall strategy of the mobile machine, a guidance method based on two analogue laser ranging sensors and a fuzzy PID control algorithm is proposed in this paper, which solves the shortcoming that traditional PID control algorithm does not apply to the nonlinear movement of mobile machine. The fuzzy controller and fuzzy rules were first designed, and the control effect was simulated in MATLAB to verify the superiority of fuzzy PID control in the walking along the wall strategy, making the movement smoother and more stable.