Modeling and Implementation of PID Control for Autonomous Robots

Abstract

PID control is optimized here in order 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 each turn was within 10% of what the robot did.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2007
Accession Number
ADA473631

Entities

People

  • Todd A. Williamson

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Basic Programming Language
  • Collision Avoidance
  • Computer Programming
  • Computer Programs
  • Computers
  • Control Systems
  • Explosive Ordnance Disposal
  • Graphical User Interface
  • Language
  • Model Predictive Control
  • New York
  • Physics
  • Quadratic Equations
  • Semiconductors
  • Simulations
  • Unmanned Aerial Vehicles

Fields of Study

  • Computer science

Readers

  • Computer Science/Computer Engineering/Data Science/Digital Signal Processing.
  • Team-Based Human-Centered Cognitive Task Decision Making and Information Performance.
  • Theoretical Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy