两轮机器人到定点的时间路径最优运动控制

The moving to goal of two wheeled robot is a typical motion control problem. In order to realize fast and stable moving, This paper researched RoboCup middle-sized two wheeled robot, applied Genetic Algorithm(GA),designed optical time, optical path and both of them as fitness function, optimized parameters of controller, realized the optical required performances control. The method can be used to do quantitative analysis and judge the effectiveness of different controllers. The article designed Human Simulated Intelligent Controller (HSIC) and contrast with proportion controller (P Controller), the result of experiment showed this was an effective way and can select controller based on this.