IEEE Micromouse control based on ADRC algorithm

Abstract

Traditional direct-current micromouse generally use PID control algorithm or fuzzy PID control algorithm to control, but PID series control algorithm has the disadvantages of slow response speed, easy overshoot and sensitivity to environmental changes. In the IEEE micromouse competition, these shortcomings of the control algorithm will cause the direct-current micromouse to have problems such as out-of-step, oscillation, and collision with the wall. In order to solve these problems, the ADRC control algorithm is proposed as a control algorithm for the direct-current micromouse,at the same time, in order to solve the problem that the parameters of ADRC controller are difficult to debug, the improved particle swarm optimization algorithm is introduced. After the simulation analysis and actual comparison test, it is proved that the direct-current micromouse based on the ADRC control algorithm can effectively eliminate the problem of out-ofstep, oscillation, and collision with the wall.Compared with the direct-current micromouse based on the PID algorithm, the average search time,sprint time and search success rate are improved by 3.69s, 3.49s, and 26% respectively,average number of collisions decreased by 90.5%. Compared with the direct-current micromouse based on the fuzzy PID algorithm, the average search time,sprint time and search success rate are improved by 1.90s, 1.17s, and 7% respectively, average number of collisions decreased by 83.9%.