Line follower mobile robots with adaptive PID control utilizing kinematic model

• Published in: AIP conference proceedings Vol. 2991; no. 1
• Main Authors: Thamrin, Ismail, Leman, Zulkarnain Ali, Utami, Nurhabibah Paramitha Eka, Arrashid, Harun, Agustio, Leo
• Format: Journal Article Conference Proceeding
• Language: English
• Published: Melville American Institute of Physics 07.06.2024
• Subjects: Actuators; Adaptive control; Algorithms; Controllers; Hardware; Kinematics; Maneuvers; Particle swarm optimization; Proportional integral derivative; Robot control; Robot dynamics; Robots; Simulation; Yaw
• ISSN: 0094-243X; 1551-7616
• DOI: 10.1063/5.0199182

How to accurately direct a mobile robot to follow a certain path is the main problem with line follower robots. The design and execution of an intricate line follower mission are demonstrated in this research using Matlab Simulink. Using software that simulates the motion of a mobile robot along a complex path, the proposed line follower algorithm and the offered PID controller are developed and evaluated. Due to the difficulty in selecting the PID controller’s settings, the Particle Swarm Optimization (PSO) approach is utilized to choose and optimize the parameters of the constructed PID controller. Three IR sensors are used to collect data on the mobile robot’s position in respect to the intended path. The yaw rate of the mobile robot will be controlled to maintain it on the planned route by changing the speed of the actuators. The simulation findings show that a mobile robot’s mobility may be maintained even when undertaking complex maneuvers. The hardware design of the robot system is completed using the mobile robot. The real-world results show that a mobile robot and a simulation function almost identically. The yaw rate of the mobile robot will be controlled to maintain it on the planned route by changing the speed of the actuators. The simulation findings show that a mobile robot’s mobility may be maintained even when undertaking complex maneuvers. The hardware design of the robot system is completed using the mobile robot. The real-world results show that a mobile robot and a simulation function almost identically.