用pid -遗传算法控制提高机器人跟墙性能

2018 5th International Conference on Electrical Engineering, Computer Science and Informatics (EECSI) Pub Date : 2018-10-01 DOI:10.1109/EECSI.2018.8752907

Heru Suwoyo, Yingzhong Tian, Chenwei Deng, A. Adriansyah

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引用次数: 17

摘要

随墙机器人需要一个鲁棒控制器，该控制器根据机器人与墙的指定距离来引导机器人。PID控制器的应用成功地减小了机器人的动态误差。然而，手动设定三个未知参数往往会增加pid控制器的不稳定性。因此，最近有许多方法来解决这个问题。本文提出了一种利用遗传算法的作用自动获取PID参数的方法。利用MATLAB对该方法进行了仿真，并在实际机器人上进行了验证。实验结果表明，该方法可以有效地减小沿壁机器人的动态误差。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Improving a Wall-Following Robot Performance with a PID-Genetic Algorithm Controller

A wall-following robot needs a robust controller that navigate robot based on the specified distance from the wall. The usage of PID controller has been successfully minimizing the dynamic error of wall-following robot. However, a manual setting of three unknown parameters of PID-controller often precisely increase instability. Hence, recently there are many approaches to solve this issue. This paper presents an approach to obtaining those PID parameters automatically by utilizing the role of Genetic Algorithm. The proposed method was simulated using MATLAB and tested in a real robot. Based on several experiments results it has been showing the effectiveness of reducing the dynamic error of the wall-following robot.

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2018 5th International Conference on Electrical Engineering, Computer Science and Informatics (EECSI)

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