Fuzzy PID based navigation of autonomous mobile robot

Abstract

One of the key aspects of smart manufacturing is the adoption of autonomous intelligent robots that are capable of self-navigating throughout the vicinity of factory without constant specific command by the operators and which can make discission making with regards to navigation. For such purpose many AI- based control systems have been developed however the simplicity and less computational requirement of PID systems are still more preferable to industry. So, there is rise in integrating and using AI based method like PSO, GA, ANN etc. to optimize the gains of PID system. However, adoption of fuzzy based system with PID for the given application is still not very much explored. Therefore, Fuzzy based PID system has to be investigated and developed. As part of the process, this study developed a robotic model from the robot pioneer 3dx and designed a simple PID controller with software tunning to be used as baseline comparison model for fuzzy PID controller.