Preview Fuzzy PID Control System for an Embedded Wheeled Robot
基于预瞄模糊PID控制的嵌入式轮式机器人设计

The design of a wheeled robot with automatically tracing process based on ARM for core device is introduced. This article proposes a multiple-point preview fuzzy PID control algorithm which is based on imitating artificial driving. By debugging, the wheeled robot can track the straight lines and the dotted lines. And the wheeled robot can automatic search for roads. The design of the controller and the main hardware circuit diagram are given. Experimental results show that the robot can meet performance requirements and provide programme for the design of the new kind of wheeled robot.