A PSO-Based Controller Tuning for a Laser Technical Vision System

Abstract

The effectiveness of mobile robots when operating in unknown, cluttered terrain requires fast and accurate detection of the slightest obstacles that can interfere with the robot movement. The present paper is a continuation of research on improving the robot Laser Technical Vision System. Using Particle Swarm Optimization Algorithm performed an optimal tuning of the proportional-derivative controller parameters for the DC motor of a laser positioning system to improve the positioning speed. It is shown, that the resulting controller is robust, i.e. has a weak sensitivity to the parametric uncertainties of the motor model.