Motion control method of a wheeled mobile robot is presented and discussed in this paper. The PID algorithm based on fuzzy inference engine is applied to overcome the shortcomings of traditional PID algorithm, which is unfitted to the properties of a wheeled mobile robot such as nonlinearity. Adjusting rules under different errors are studied and a parameters distributor is designed to the double closed loop controller of the two motion control parameters （linear and angular velocities）. Experimentation results of motion control show that the motion control system based on the parameters self-tuning fuzzy PID algorithm has good effects over transitional state. Besides, over-adjustment and error of steady state of linear and angle velocities of the mobile robot are also improved clearly. In addition, the control system has perfect capability of anti-jamming.
Journal of Harbin Engineering University