通過對機器(qi)(qi)人(ren)(ren)(ren)的(de)(de)(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軌(gui)跡(ji)準確跟(gen)(gen)蹤(zong)控(kong)制，能夠有效提升機器(qi)(qi)人(ren)(ren)(ren)路徑規劃(hua)和自(zi)主定位的(de)(de)(de)(de)準確性(xing)(xing)。機器(qi)(qi)人(ren)(ren)(ren)在運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)過程中運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軌(gui)跡(ji)受到(dao)小擾動(dong)(dong)(dong)(dong)分段線性(xing)(xing)誤(wu)差的(de)(de)(de)(de)影(ying)響，機器(qi)(qi)人(ren)(ren)(ren)系(xi)統是一個(ge)多變(bian)量非線性(xing)(xing)系(xi)統，傳統的(de)(de)(de)(de)遺(yi)傳算法(fa)進行運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軌(gui)跡(ji)跟(gen)(gen)蹤(zong)控(kong)制在邊界層出現穩態跟(gen)(gen)蹤(zong)誤(wu)差。針對以(yi)上問題提出一種(zhong)基于(yu)改進遺(yi)傳算法(fa)的(de)(de)(de)(de)機器(qi)(qi)人(ren)(ren)(ren)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軌(gui)跡(ji)跟(gen)(gen)蹤(zong)控(kong)制算法(fa)。模(mo)擬(ni)構建所研究(jiu)的(de)(de)(de)(de)機器(qi)(qi)人(ren)(ren)(ren)的(de)(de)(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)環境(jing)模(mo)型(xing)，把(ba)機器(qi)(qi)人(ren)(ren)(ren)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軌(gui)跡(ji)的(de)(de)(de)(de)空間(jian)坐標抽象為遺(yi)傳種(zhong)群的(de)(de)(de)(de)虛擬(ni)，得到(dao)機器(qi)(qi)人(ren)(ren)(ren)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)空間(jian)的(de)(de)(de)(de)網絡結構模(mo)型(xing)。通過遺(yi)傳進化的(de)(de)(de)(de)方式尋找目標點并進行移動(dong)(dong)(dong)(dong)，為了使得機器(qi)(qi)人(ren)(ren)(ren)的(de)(de)(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軌(gui)跡(ji)滿足遺(yi)傳算法(fa)的(de)(de)(de)(de)匹配條(tiao)件和參數攝動(dong)(dong)(dong)(dong)帶來的(de)(de)(de)(de)誤(wu)差，在機器(qi)(qi)人(ren)(ren)(ren)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軌(gui)跡(ji)滑膜面設計(ji)一個(ge)跟(gen)(gen)蹤(zong)誤(wu)差的(de)(de)(de)(de)積分項。仿真結果表明：采用該算法(fa)進行機器(qi)(qi)人(ren)(ren)(ren)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軌(gui)跡(ji)控(kong)制，能以(yi)較快(kuai)的(de)(de)(de)(de)收(shou)斂(lian)速度找到(dao)更優路徑，機器(qi)(qi)人(ren)(ren)(ren)跟(gen)(gen)蹤(zong)控(kong)制性(xing)(xing)能度和收(shou)斂(lian)性(xing)(xing)較好，性(xing)(xing)能優越。