Optimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithm
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. T...
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National Academy of Sciences of Belarus, the United Institute of Informatics Problems
2021-12-01
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| Series: | Informatika |
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| Online Access: | https://inf.grid.by/jour/article/view/1170 |
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| author | T. Yu. Kim R. A. Prakapovich |
| author_facet | T. Yu. Kim R. A. Prakapovich |
| author_sort | T. Yu. Kim |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-fd8f924cf19f401abbf65f907a5b3d52 |
| institution | Kabale University |
| issn | 1816-0301 |
| language | Russian |
| publishDate | 2021-12-01 |
| publisher | National Academy of Sciences of Belarus, the United Institute of Informatics Problems |
| record_format | Article |
| series | Informatika |
| spelling | doaj-art-fd8f924cf19f401abbf65f907a5b3d522025-02-03T11:46:28ZrusNational Academy of Sciences of Belarus, the United Institute of Informatics ProblemsInformatika1816-03012021-12-01184536810.37661/1816-0301-2021-18-4-53-68989Optimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithmT. Yu. Kim0R. A. Prakapovich1The United Institute of Informatics Problems of the National Academy of Sciences of BelarusThe United Institute of Informatics Problems of the National Academy of Sciences of BelarusO 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.https://inf.grid.by/jour/article/view/1170motion stabilization systemgenetic algorithmpid controllersimulation modelsimulationfeedbacksensors |
| spellingShingle | T. Yu. Kim R. A. Prakapovich Optimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithm Informatika motion stabilization system genetic algorithm pid controller simulation model simulation feedback sensors |
| title | Optimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithm |
| title_full | Optimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithm |
| title_fullStr | Optimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithm |
| title_full_unstemmed | Optimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithm |
| title_short | Optimization of the PID coefficients for the line-follower mobile robot controller employing genetic algorithm |
| title_sort | optimization of the pid coefficients for the line follower mobile robot controller employing genetic algorithm |
| topic | motion stabilization system genetic algorithm pid controller simulation model simulation feedback sensors |
| url | https://inf.grid.by/jour/article/view/1170 |
| work_keys_str_mv | AT tyukim optimizationofthepidcoefficientsforthelinefollowermobilerobotcontrolleremployinggeneticalgorithm AT raprakapovich optimizationofthepidcoefficientsforthelinefollowermobilerobotcontrolleremployinggeneticalgorithm |