Motion Control of Non-Holonomic Wheeled Mobile Robot Based on Particle Swarm Optimization Method (PSO)

摘要

Using (PID) controller to control the trajectory motion of non-holonomic wheeled mobile robot may not be efficient especially for non-linear systems. Hence this work introduces a combination of back stepping method with the (PID) controller to obtain an efficient controller for (WMR) to deal with the non-linear systems. Different common trajectories such as infinity, circle and straight line were applied to be tracked by (WMR) to examine the control system. The results of the simulation tests of the designated trajectories with the desired trajectories were achieved through the implementation of the mean square error for x, y and the orientation. Practical swam optimization method was used to find the control gain to investigate an optimized minimum error percentage. The results of simulation show a good tracking performance with the desired trajectories.