The Research Of The Robot's Control Of Auto-Guiding And Auto-tracing

This paper studies on the methods of traceing for both still and moving targets,and also focus on the study of PID algorithm,the fuzzy logic control algorithm,and the neural network control algorithm. With these algorithms the robot is controlled to follow a target. Among all of these control algorithms the neural network control algorithm is emphasized.Finally,the parallel approach method with which the missile can trace the target is used in he robot's tracing for a moving target.It is easier to hold a still target than a moving target for the robot,because in this case the only thing to be done is to identify the target.Then according to the position of the robot and the target,the robot can be controlled to trace and access the target.PID algorithm is the simplest compared with others and is used in the situation that the controlled target is clearer.When the controlled object is complicated and its model is not clear and definite,the fuzzy logic control algorithm can be used.The study algorithm is used when the controlled object can move repeatedly.Although the every kind of algorithm application is different,they can do the same job on the tracing of a target.The only difference among them is the optimal route that the robot traces its target.It is very important that the neural network control algorithm has the intelligence.Training of a neural network is so important that it affects the quality of the neural network and the control performance of the controlled object.There is great advantage if the neural network is used in the tracing of the robot towards the given target. By simulation we can find that the robot can not only accurately trace the target but also have an optimal route when it is tracing the target.For the moving target,the trail is more complicated compared with the case of the still one.lt also needs to estimate the target's moving,besides of detecting the target.For this porpose,the parallel approach method is used.The simulation results prove that this method can give a good result.Finally,all of these algorithms are used in the actual object to control the robot's moving,which make the robot trace the target accurately.