Robot Motion Planning
Design of optimal disturbance rejection PID controllers usinggenetic algorithms
IEEE Transactions on Evolutionary Computation
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Research in robot motion control offers research opportunities that will emulate human decision making capabilities to perfection in years to come. Autonomous robots roles are increasing in different aspects of engineering and everyday life. This paper describes an autonomous robot motion control system based on fuzzy logic Proportional Integral Derivative (PID) controller. Fuzzy rules are embedded in the controller to tune the gain parameters of PID and to make them helpful in real time applications. This paper discusses the design aspects of fuzzy PID controller for mobile robot that decrease rise time, remove steady sate error quickly and avoids overshoot. The performance of robot design has been verified with rule based evaluation using Matlab and results obtained have been found to be robust. Overall, the performances criteria in terms of its response towards rise time, steady sate error and overshoot have been found to be good.