Research Article
Differential Steering Control System of Lawn Mower Robot
@INPROCEEDINGS{10.1007/978-3-030-77417-2_26, author={Xu Guo and Jinpen Huang and Lepeng Song and Feng Xiong}, title={Differential Steering Control System of Lawn Mower Robot}, proceedings={Data and Information in Online Environments. Second EAI International Conference, DIONE 2021, Virtual Event, March 10--12, 2021, Proceedings}, proceedings_a={DIONE}, year={2021}, month={6}, keywords={Mowing robot Fuzzy adaptive PID Differential steering}, doi={10.1007/978-3-030-77417-2_26} }- Xu Guo
Jinpen Huang
Lepeng Song
Feng Xiong
Year: 2021
Differential Steering Control System of Lawn Mower Robot
DIONE
Springer
DOI: 10.1007/978-3-030-77417-2_26
Abstract
Aiming at the problem of inflexible steering and motion of robot, this paper applies fuzzy adaptive PID control algorithm to the differential steering control system of mowing robot to improve its rapidity and accuracy. In this paper, according to the domestic green environment and the overall parameters of the mowing robot, the overall design of the mowing robot is made, the fuzzy adaptive PID control algorithm of the mowing robot differential steering control system is designed, the mathematical model of the mowing robot differential steering is constructed, and the MATLAB/Simulink is used to simulate the fuzzy adaptive algorithm. The simulation results show that the response speed and overshoot of fuzzy adaptive PID algorithm are 2.42 s and 16.4, respectively, The response speed and overshoot of PID are 7.18 s and 36.3% respectively, so the dynamic performance of the differential steering control system based on Fuzzy Adaptive PID algorithm is better than that based on ordinary PID control.
