A PSO algorithm applied to a PID controller for motion mobile robot in a complex dynamic environment

摘要

In robot navigation problem, many variables should be controlled in order to obtain the best upshot at the end of task. Indeed, the mobile robot ought to avoid obstacles and reach its final destination with the nethermost time and the shortest trajectory. It should be stable, accurate and replies quickly. Motivated by these demands, Particle Swarm Optimization for optimal PID controller for motion planning in a real complex environment is developed. Comparing to a Fuzzy logic controller, simulation results shows the efficiency of our suggested method.