Open AccessOptimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithm
Author(s) -
T. Yu. Kim,
Ryhor Prakapovich
Publication year - 2021
Publication title -
informatika
Language(s) - English
Resource type - Journals
eISSN - 2617-6963
pISSN - 1816-0301
DOI - 10.37661/1816-0301-2021-18-4-53-68
Subject(s) - pid controller , genetic algorithm , controller (irrigation) , control theory (sociology) , robot , line (geometry) , mobile robot , software , computer science , contrast (vision) , solver , simulation , algorithm , control engineering , artificial intelligence , mathematics , engineering , control (management) , temperature control , geometry , agronomy , machine learning , biology , programming language
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.