通過對(dui)機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)的(de)(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)軌跡(ji)(ji)準確(que)跟(gen)(gen)蹤控(kong)(kong)制(zhi)(zhi)，能(neng)(neng)夠(gou)有效提升機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)路(lu)徑規劃和(he)自主定位的(de)(de)(de)(de)(de)準確(que)性(xing)(xing)。機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)在(zai)運(yun)(yun)動(dong)(dong)(dong)(dong)過程中運(yun)(yun)動(dong)(dong)(dong)(dong)軌跡(ji)(ji)受(shou)到(dao)小(xiao)擾(rao)動(dong)(dong)(dong)(dong)分段線(xian)性(xing)(xing)誤(wu)(wu)差(cha)的(de)(de)(de)(de)(de)影響，機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)系(xi)統是(shi)一(yi)(yi)個多(duo)變量非線(xian)性(xing)(xing)系(xi)統，傳統的(de)(de)(de)(de)(de)遺傳算法進(jin)(jin)行(xing)運(yun)(yun)動(dong)(dong)(dong)(dong)軌跡(ji)(ji)跟(gen)(gen)蹤控(kong)(kong)制(zhi)(zhi)在(zai)邊界(jie)層出(chu)現穩態跟(gen)(gen)蹤誤(wu)(wu)差(cha)。針對(dui)以(yi)上問題(ti)提出(chu)一(yi)(yi)種(zhong)基于改進(jin)(jin)遺傳算法的(de)(de)(de)(de)(de)機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)運(yun)(yun)動(dong)(dong)(dong)(dong)軌跡(ji)(ji)跟(gen)(gen)蹤控(kong)(kong)制(zhi)(zhi)算法。模(mo)擬構建(jian)所研究的(de)(de)(de)(de)(de)機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)的(de)(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)環境模(mo)型，把機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)運(yun)(yun)動(dong)(dong)(dong)(dong)軌跡(ji)(ji)的(de)(de)(de)(de)(de)空(kong)間坐標(biao)抽(chou)象為遺傳種(zhong)群的(de)(de)(de)(de)(de)虛擬，得(de)(de)到(dao)機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)運(yun)(yun)動(dong)(dong)(dong)(dong)空(kong)間的(de)(de)(de)(de)(de)網(wang)絡結構模(mo)型。通過遺傳進(jin)(jin)化的(de)(de)(de)(de)(de)方(fang)式尋(xun)找目標(biao)點并進(jin)(jin)行(xing)移動(dong)(dong)(dong)(dong)，為了使得(de)(de)機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)的(de)(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)軌跡(ji)(ji)滿足(zu)遺傳算法的(de)(de)(de)(de)(de)匹配條(tiao)件和(he)參(can)數攝動(dong)(dong)(dong)(dong)帶來的(de)(de)(de)(de)(de)誤(wu)(wu)差(cha)，在(zai)機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)運(yun)(yun)動(dong)(dong)(dong)(dong)軌跡(ji)(ji)滑膜面(mian)設計一(yi)(yi)個跟(gen)(gen)蹤誤(wu)(wu)差(cha)的(de)(de)(de)(de)(de)積分項。仿(fang)真(zhen)結果(guo)表明(ming)：采用該(gai)算法進(jin)(jin)行(xing)機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)運(yun)(yun)動(dong)(dong)(dong)(dong)軌跡(ji)(ji)控(kong)(kong)制(zhi)(zhi)，能(neng)(neng)以(yi)較(jiao)快(kuai)的(de)(de)(de)(de)(de)收斂速度找到(dao)更優路(lu)徑，機(ji)(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)跟(gen)(gen)蹤控(kong)(kong)制(zhi)(zhi)性(xing)(xing)能(neng)(neng)度和(he)收斂性(xing)(xing)較(jiao)好，性(xing)(xing)能(neng)(neng)優越。