关键词: 四轮机器人, 差速控制, 麻雀搜索算法, 模糊 PID 控制, 运动模型

Abstract: Based on the problem of poor differential control effect of traditional four-wheel robot, a robot differential
control method for optimizing fuzzy PID controller based on sparrow search algorithm ( SSA) was proposed. The four-wheel
robot differential control motion model was constructed. The SSA algorithm was used to effectively optimize the three gain
parameters of the fuzzy PID controller. The SSA-fuzzy PID controller is input to the four-wheel robot motion model for
differential control. The simulation results showed that compared with the conventional PID controller, fuzzy PID controller,
BP-NSGA-controller and PSO-PID controller, the controller can quickly control the running speed of the four-wheel robot
quickly, the correction deviation fluctuation was small, and the deviation value was 0 at 3. 1 s. It showed that the response
speed and less fluctuation in the differential control of four-wheel robot are faster, which can make the driving process of
four-wheel robot more stable.

Key words: four-wheel robot, differential control, sparrow search algorithm( SSA), fuzzy PID control, motion model