基于模糊PID算法的送餐机器人系统的设计

摘要

In order to solve the problems of the traditional service robot such as overtime modification,large path deviation and insufficient intelligent operation,a service robot based on the magnetic sensor is designed,which has functions of tracking,obstacle avoidance,table locating,voice broadcasting and ordering.The system uses a navigation system based on fuzzy PID control,the location deviation and the rate of location deviation are taken as the input of the fuzzy controller,and PWM duty cycle of the machine is taken as the output,which shortens the modification time and improves the accuracy of path during the meal delivery.The experiment results show that this program is reasonable and feasible,the intelligence of meal ordering and meal delivery is realized.It has good application and promotion value.%针对传统送餐机器人在送餐循迹过程中修正时间长、路径偏差大,运行不够智能化,设计了一种送餐机器人,该机器人具有循迹、避障、餐桌定位、语音播报和点餐等一体化功能.系统利用了一种基于模糊PID控制的导航系统,由位置偏差和位置偏差变化率作为模糊控制器的输入,电机的PWM占空比为控制系统的输出,缩短了送餐过程中的修正时间,并提高了路径的准确度.通过实验验证,本方案是有效可行的,实现了餐厅点餐和送餐的智能化,具有较好的应用及推广价值.