An Implementation of Mobile Robots' Path Planning and Tracing Based on Fuzzy PID Algorithms

Abstract

To participate in the Asia Broadcast Union Robocon Contest 2008, some intelligent mobile robots are designed in Wuhan University of China. The two-wheel robot is navigated by two separated photoelectric encoders fixed beside the wheels symmetrically. The encoders can give the feedback of the practical robot's displacement and speed. The advanced fuzzy PID algorithm is proposed to improve the conventional PID. It utilizes fuzzy regulators to modify the PID parameters Kp, Ki, Kd on line according to the input error and error difference using the specified fuzzy control rules. The fuzzy rules introduced in this paper are designed through experiments and corrected after many trials so that the optimal parameters can be found out. The desired proportion of two wheels' speed is set as the reference input of the algorithm and the practical encoders' speed proportion is set as the feedback input. The adjustment output of the algorithm functions on the two motor drivers in terms of speed control signals PWM. The robot's path planning and tracing are fulfilled effectively by applying the algorithm, because it can keep dynamic coherence with variable errors. On the mobile robot's controller based on TMS320LS2407A DSP processor, we studied the algorithm problem of intelligent path planning for the mobile robot, and finally designed the software and the algorithm was well implemented.