针对海底钴结壳采矿车在采矿过程中越过复杂地形时会产生偏离预定路径的问题,提出一种基于ANFIS的海底采矿车直线路径跟踪控制方法,根据训练数据,设计模糊神经网络路径控制器,从而避免专家系统知识库难以获取和精确数学模型难以建立的困难。在此基础上,建立内环采用PID速度控制和外环采用ANFIS控制的机电直线路径行走控制模型,开展海底采矿车越单边障碍时的联合仿真研究,仿真结果表明所提控制方法的有效性和所建行走控制模型的正确性。 Aiming at the problem that the submarine cobalt hull mining vehicle will deviate from the planned route when crossing the complex terrain during the mining process, a new method based on ANFIS for tracking the sea route is proposed. According to the training data, the fuzzy neural network path controller is designed, Thus avoiding the difficulty of obtaining expert system knowledge base and the difficulty of establishing mathematical model. On this basis, the establishment of joint speed control of the inner loop using PID control and the outer ring ANFIS control of the linear path of the control model to carry out marine mining unilateral obstacles more unilateral co-simulation study shows that the effectiveness of the proposed control method And the correctness of the walking control model built.