从事多机器人探测控制的朋友可以参考我写的源程序，它基于matlab编程，较好的完成了在一定环境下的探测任务。-for more control of the robot to detect friends can refer to the source, I wrote, It is based on Matlab programming, the better will be completed in the context of e

pid controleur with optimisation

déterminer les paramètres d un controleur PID floue