Trajectory tracking control based on genetic algorithm and proportional integral derivative controller for two-wheel mobile robot

摘要

This paper uses the genetic algorithm (GA) to optimize the proportional integral derivative (PID) controller parameters to present the motion control design for a two-wheeled mobile robot autonomous system. The GA algorithm determines a collision-free travel curve for a robot with a tangential velocity restriction constraint. A trajectory-tracking controller based on the PID control structure is developed to monitor the calculated route curves for the mobile robot. Simulation results show the effectiveness of the GA-PID controller compared to the PID controller. The GA-PID controller demonstrates improved performance in trajectory tracking and collision avoidance, making it suitable for controlling the motion of two-wheeled mobile robots. The GA's optimization process allows for better tuning of the PID controller parameters, resulting in more efficient and accurate robot motion control. The results suggest that the proposed GA-PID controller is a promising approach for enhancing mobile robots' autonomous navigation capabilities.