As the mathematic model of the wheeled robot is very complicated, a fuzzy adjusting proportional differential (PD) control method is presented for its lane following.

针对数学模型复杂的移动机器人的路径跟踪问题，使用模糊整定的比例微分控制算法。

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It could adjust the environment equipment accurately trough the generate control of proportional integral differential.

通过比例、积分、微分三部分综合控制，以精确调试环境试验设备。

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PID control: through the adjustment of the proportion of the output current, the relevant parameters are proportional, integral time and differential time;

2>PID控制： 通过调控反映输出电流比例，相关参数有比例段，积分时间微分时间；

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