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Moving and turning of robots quickly and accurately should be ensured in games of robot soccer. However conventional PID control usually uses fixed parameters in its control processing, so it is hard to achieve satisfactory control effect. Fuzzy control technique is applied to process of PID parameters self-tuning, and control parameters are self-tuned on-line according to different conditions in this proposed paper. Compared with conventional PID controller, fuzzy self-tuning PID controller can have more advantages, such as higher flexibility, control adaptability, better dynamic and static performance. Its effectiveness and practicability are tested and verified in MiroSot soccer robots design.