A PSO method for optimal design of PID controller in motion planning of a mobile robot

摘要

Based on particle swarm optimization (PSO) algorithm for optimal design of PID controller, a method is proposed to navigate of a two-wheeled mobile robot from a given initial configuration to a desired final configuration in an unknown environment filled with obstacles. The mobile robot can follow a wall with PID control to adjust motor speed and avoid obstacles with moving square method in an unknown environment. The PSO algorithm is an optimization technique which is inspired by the social-like behavior, such as bird flocking or fish utilized it to solve optimization problems. It finds the global best solution by simply adjusting the trajectory of each particle its own best particle and toward the best particle of the entire swarm at each generation. The PSO algorithm becomes very popular due to it can be easily implemented and quickly find a good solution. Then the PSO algorithm can be used to adjust parameters of PID to control wheel velocities in an unknown environment filled with obstacles. To show the feasibility of the proposed method, simulation results and experiments are included for illustration.