Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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Formation Control of Mobile Robots using Adaptive PID Controller

적응 PID 제어기를 이용한 이동로봇의 군집제어

  • Park, Jin-Hyun (Department of Mechatronics Engineering, Kyeognam National University of Science and Technology) ;
  • Choi, Young-Kiu (Department of Electrical Engineering, Pusan National University)
  • Received : 2015.07.29
  • Accepted : 2015.08.20
  • Published : 2015.11.30
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Abstract

In this paper, we strengthen the advantages of a simple PID controller as a study on the formation control of mobile robots and propose an adaptive PID controller with robust performance at the dynamics characteristics of following robot. Simulation studies show that the adaptive PID controller has better keeping constant distance and angle such as tracking performance of following robot for the formation control than a conventional PID controller. This is the proposed adaptive PID controller to change the gains is found to represent the best performance. This is able to verify that the performance of the proposed adaptive PID controller is excellent.

본 연구에서는 이동 로봇의 군집제어기에 관한 연구로써 구조가 단순한 PID 제어기의 장점을 살리고, 추종 로봇의 동역학 특성에 강인한 성능을 내는 적응 PID 제어기를 제안하고자 한다. 모의실험을 통하여 제안된 적응 PID 제어기가 일반적인 PID 제어기에 비하여 군집 제어에서 추종 로봇의 추종 성능인 일정 거리 와 일정 각도를 잘 유지하며, 추종 로봇의 무게가 변화될 경우에도 잘 추종함을 알 수 있다. 이는 제안된 적응 PID 제어기가 이득을 변화시켜 최적의 성능을 나타냄을 알 수 있다. 이를 통해 제안된 적응 PID 제어기의 성능이 우수함을 검증할 수 있다.

Keywords

References

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