Speed Tracking Control of Unmanned Patrol Vehicle based on Particle Swarm Optimization

Unmanned patrol vehicle is a typical mobile robot, which is an important equipment to realize intelligent patrol in outdoor environment such as industrial and mining enterprises, judicial prisons, docks and warehouses. In order to solve the problem of long speed regulation time and poor stability of inspection unmanned vehicle in complex environment, this paper designs a fuzzy PID speed control method based on particle swarm optimization algorithm. On the basis of conventional fuzzy PID, combined with particle swarm optimization algorithm, the membership function of fuzzy controller is optimized to reduce the dependence of fuzzy control on expert experience. Simulation results show that this method can reduce the speed regulation time and improve the stability of speed control.