Abstract: The four-wheeled mobile robot driving by rear-wheel has some characteristics such as nonholonomic constraint，complex model.A compound intelligent trajectory tracking method based on multi-preview points is proposed.By imitating the preview driving behavior of human，the fuzzy controller adjusts the velocity，the number of preview points and the preview distance online according to the different road condition.The immune controller regulates parameters of the PID controller online.Evaluating indicator of trajectory departure are presented considering the control stability.The simulation results show the effectiveness of the controller.

摘要： 针对后轮驱动四轮移动机器人存在非完整约束、模型复杂等特点，提出一种基于多预瞄点的轨迹跟踪混合控制算法。该算法设计从仿人驾车的角度出发，根据不同路况通过模糊控制在线调节机器人的速度、预瞄点个数和预瞄距离。采用免疫控制方法在线整定PID控制器的参数。从控制稳定性角度出发提出轨迹偏离度评价指标。仿真结果表明该控制器的有效性。