Modeling and implentation of PID control for autonomous robots

Abstract

PID control is optimized here to control the course of a small autonomous robot for military applications. A Visual Basic program was written to model the robot response to the controller and provide a method of optimization. The computer model is based on empirical data gathered through testing. Controller theory, robot mechanics, and hardware implementation are all discussed as they relate to the ability of the robot to get from one location to another along an efficient path. The controller was tuned to provide optimal direction control and the model was evaluated for accuracy. The robot completed a 170 degree pivot turn in 4.0 seconds and a 170 degree differential turn in 5.1 seconds. The time predicted by the model for the each turn was within 10% of what the robot did.