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本文在分析移动机器人在路径跟踪中所产生的３种误差之间关系的基础上，提出了基于两个模糊子控制器的移动机器人路径跟踪纠偏的新方法．该方法简化了移动机器人的纠偏控制过程，改善了控制算法的实时性，提高了移动机器人的路径跟踪精度．
Based on the analysis of the relationship between the three kinds of errors generated by the mobile robot in the path tracking, this paper proposes a new method based on two fuzzy sub-controllers to track the trajectory of the mobile robot. The method simplifies the corrective control process of the mobile robot, improves the real-time performance of the control algorithm and improves the tracking accuracy of the mobile robot.