Path control of mobile robot using Cuckoo-PID

Shukla, Abhay; Goyal, Himani; Agarwal, Sonali; Nema, Swapnil; Padhy, Prabin Kumar

doi:10.1109/ic4.2015.7375635

Cited by 5 publications

(2 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A robot needs to control its position using many kinds of an algorithm to ensure the robot position is correct. There are many control algorithms for robots to handle position in coordination in wheeled mobile robots [1], [6]- [9]. PID is one method that presents a cost-effective way for robots' DC motor drive [10].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Swarm Intelligence Autotune For Differential Drive Wheeled Mobile Robot

Auzan

Hujja²,

Fuadin³

et al. 2022

IJEEI

View full text Add to dashboard Cite

Differential Drive Wheeled Mobile Robot (DDWMR) is a nonholonomic robot with constrained movement. Such constraint makes robot position control more difficult. A closed-loop control system such as PID can control robot position. However, DDWMR is a Multiple-Input-Multiple-Output system. There will be many feedback gains to be tuned, and the wrong value will make the system unstable. Therefore this research proposes an offline autotune method to choose optimal feedback gain that minimizes a fitness function. The fitness function uses Integral Absolute Error (IAE) and Integral Time Absolute Error (ITAE). These works propose to autotune feedback gain for DDWMR Jetbot, which implements a PI control system with six feedback gains. The methods used to tune the feedback gain are Particle Swarm Optimization (PSO) and Bird Swarm Algorithm (BSA). There are four different scenarios to do the autotune. The autotune result performance shows that those two methods can find an optimal gain to make the robot follow four different continuous trajectories without much trajectory deformation. PSO and BSA can do an autotune PI gain with six variables to minimize the Integral Absolute Error (IAE) and Integral Time Absolute Error (ITAE)

show abstract

Section: Introductionmentioning

confidence: 99%

“…The cuckoo optimization method is used to design the PID controller, which updates the translation & angular velocities to track the path [9]. The objective function is evaluated by calculating individual errors in three (x, y, and theta) directions.…”

Section: Introductionmentioning

confidence: 99%