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Optimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithm

https://doi.org/10.37661/1816-0301-2021-18-4-53-68

Abstract

O b j e c t i v e s. To develop a control system for the movement of a mobile robot along a color-contrast line, as well as to find the values of the coefficients of a proportional-integral-differentiating (PID) controller that allows the robot to move along the line at a given speed.

M e t ho d s. To adjust the values of the coefficients of the PID controller, methods of enumeration, automatic tuning and a genetic algorithm are used.

Re s u l t s. A software package for tuning the PID controller of the educational mobile robot RoboCake, designed to move along a closed color-contrast line at a given speed, has been developed. The software package consists of a simulation model of the specified robot in the Simulink environment, several virtual traces-polygons and a specialized solver based on the developed genetic algorithm. With the help of the proposed fitness function, a mobile robot control system that satisfies the stated conditions is implemented. Based on the conducted model experiments, the desired values of the parameters of the PID controller are obtained.

Co n c l u s i o n. A comparison of the effectiveness of various methods of tuning the PID controller is carried out. The developed software package is designed to solve the practical problem of moving a mobile robot along a color-contrast line at a speed of 1 m/s. The results obtained can be used to study methods of evolutionary tuning of stabilization systems for transport robots, ensuring their movement without overshoot.

For citations:


Kim T.Yu., Prakapovich R.A. Optimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithm. Informatics. 2021;18(4):53-68. (In Russ.) https://doi.org/10.37661/1816-0301-2021-18-4-53-68

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ISSN 1816-0301 (Print)
ISSN 2617-6963 (Online)