Optimization Design for PID Parameter of Mobile Robot Based on Genetic Algorithm

摘要

Focusing on the control requirements for position and speed of mobile robot, PID controller parameters of mobile robot based on genetic algorithm are designed and optimized. In this paper, the performance index for the time integral of absolute error value is adopted as the minimum object function to choose parameters, and the global searching capability of genetic algorithm is used to obtain optimal solution and further to reduce difficulty in tuning PID parameters under the no prior knowledge condition. The simulation results show that the optimization design for PID parameters proposed in this paper improve the control precision and robustness of the system.