Design of RTD-PID optimized neural networks controller for non-holonomic wheeled mobile robot
- International Robotics & Automation Journal
Chiraz Ben Jabeur, Hasene seddik
In this paper, a new Real Time Dynamic Proportional Integrated Derivative approach “RTDPID” controlled by neural networks for non-holonomic wheeled mobile robot control is presented. The structure of the PID and the parameters that intervene in the control process are real time adjusted depending on the trajectory type and obstacles detected. The new proposed method is compared with the classical PID controller and has proved high efficiency and precision in real time control, especially when evaluated in a hostile environment, which leads to an autonomous decision making to cross over an obstacle or avoid it and stop the engine to protect it. The control process takes into account disturbances appearing during the mobile robot assignments evaluated in a hostile environment, reacts quickly, and adapts to changing environment conditions. In fact, both robot and the control process, faced with obstacles such as holes or stones, are autonomous when it comes to decision making. In case the obstacles are insurmountable, it is necessary to take a decision and stop the engine to avoid damaging it. In addition, an implementation of a kinematic and a dynamic model based on Lagrangien mechanics, are presented regarding non-holonomic and rolling without sliding constraints. This implementation has been developed and stimulated in real time on Matlab/Simulink environments. Incidentally, simulation results are given based on the effect of load torque applications on the mobile robot behavior. These simulation results are satisfactory and have demonstrated the effectiveness, robustness and high stability of the proposed technique.
robotics, pid controller, hostile environment, neural networks, wheel differential drive, mobile robot, kinematic model, dynamic model, tracking control, speed control, mechatronic system, dynamic, algorithm, simulations, constraints