Control improvement of soccer robot motion based on genetic algorithm

PID control is hard to meet the need of robot soccer game because of the changeable game situations and varying speeds of the left and right wheels. Thus, further study about FIRA soccer is needed. Motion control algorithm is improved based on studies about basic motion control algorithm and composition principles of all parts of soccer robot. For fuzzy-PID control system, improved genetic algorithm was used to optimize initial parameters of PID controller. Simulation test shows that performance of PID control system optimized with improved genetic algorithm, which features quick response, minor steady state error, and small overshoot, is much better than traditional PID control. In conclusion, system performance can be optimized with improved genetic algorithm. © 2016, Editura Cefin. All rights reserved.