关键词: 路径规划, PID, 多模态

Abstract: As the base for robot basic action realizing，the best or worst of path planning will affect the real-time and varacity of action.Although classical PID can track object exactly，but it lacks of track optimizing capacity.This paper proposes that making use of multi-modal method，through different perception to drive the corresponding motion control，and taking static and dynamic object navigation as examples，detaily introduce the design method of multi-modal control.Finally，taking the middle-size robot Frontier-I of Shanghai Jiaotong University as example，does many experiments and compares with the PID control method，proves the validity of the method proposed in this paper.

Key words: path planning, PID, multi-modal