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.
Highlights
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
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
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
Summary
Подобные исследования рассмотрены в работе [5], где были оптимизированы коэффициенты ПИД-регулятора для мобильного робота, следующего по линии. В статье описывается опыт авторов по автоматической настройке коэффициентов ПИД-регулятора системы управления движением мобильного робота по цветоконтрастной линии с помощью его имитационной модели и генетического алгоритма. Изначально для контроля за движением мобильного робота по линии был применен готовый ПИД-регулятор из библиотеки Control System Toolbox (URL: https://www.mathworks.com/ help/pdf_doc/control/control_gs.pdf), для которого требуется ручной ввод значений коэффициентов управления: пропорционального (Р), интегрального (I) и дифференциального (D) коэффициентов, а также фильтра (N) для дифференциального коэффициента.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
