Task Oriented Behavior-Based State-Adaptive PID (Proportional Integral Derivative) Control for Low-Cost Mobile Robot

摘要

This paper describes how state-adaptive PID (Proportional Integral Derivative) control can be applied to a low-cost mobile robot. Behavior-based state-adaptive control for this mobile robot behaviors was designed using only three infrared sensors, a low-cost 8 bit microcontroller, and an electronic compass, with size of 22 cm × 21 cm × 16 cm. The task oriented behavior-based approach is implemented as two tasks, wall following and goal seeking. Adaptive control used in this robot is PID algorithm using LMS (Least Mean Square) approach. Robot is given a map and run in an artificial corridor representing the map. The results demonstrate that each task works correctly and can run simultaneously. Experimental result shows that robot can run at maximum speed of 100 cm/s without any collision with the corridor. Robot can follow the wall, go to the goal, and avoid obstacles detected by the infrared sensors.