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Reseach Article

PSO-based Optimum Design of PID Controller for Mobile Robot Trajectory Tracking

by Turki Y. Abdalla, Abdulkareem. A. A
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 47 - Number 23
Year of Publication: 2012
Authors: Turki Y. Abdalla, Abdulkareem. A. A
10.5120/7497-0601

Turki Y. Abdalla, Abdulkareem. A. A . PSO-based Optimum Design of PID Controller for Mobile Robot Trajectory Tracking. International Journal of Computer Applications. 47, 23 ( June 2012), 30-35. DOI=10.5120/7497-0601

@article{ 10.5120/7497-0601,
author = { Turki Y. Abdalla, Abdulkareem. A. A },
title = { PSO-based Optimum Design of PID Controller for Mobile Robot Trajectory Tracking },
journal = { International Journal of Computer Applications },
issue_date = { June 2012 },
volume = { 47 },
number = { 23 },
month = { June },
year = { 2012 },
issn = { 0975-8887 },
pages = { 30-35 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume47/number23/7497-0601/ },
doi = { 10.5120/7497-0601 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T20:42:38.162108+05:30
%A Turki Y. Abdalla
%A Abdulkareem. A. A
%T PSO-based Optimum Design of PID Controller for Mobile Robot Trajectory Tracking
%J International Journal of Computer Applications
%@ 0975-8887
%V 47
%N 23
%P 30-35
%D 2012
%I Foundation of Computer Science (FCS), NY, USA
Abstract

This paper present a particles swarm optimization (PSO) method for determining the optimal proportional – integral derivative (PID) controller parameters, for the control of nonholonomic mobile robot that involves path tracking using two optimized PID controllers one for speed control and the other for azimuth control. The mobile robot is modelled in Simulink and PSO algorithm is implemented using MATLAB. Simulation results show good performance for the proposed control scheme.

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Index Terms

Computer Science
Information Sciences

Keywords

Mobile Robot Particles Swarm Optimization Pid Controller Kinematic And Dynamic Model trajectory Tracking