A Proportional-Integral-Derivative Control Scheme of Mobile Robotic platforms using MATLAB

Abstract

This paper proposes an approach for the navigation of mobile robots namely Khepera 3 and iRobot Create in a designated environment. In this study, the navigation system of Khepera 3 includes the motion of the mobile robot at a particular angle to reach a particular goal and avoidance of the obstacle that may occur in its path. Obstacle avoidance is realized using Blending and Hard switching techniques respectively and the navigation system of iRobot Create includes its movement in a rectangular path. In controlling the navigation of the robots, Proportional-Integral-Derivative (PID) controller is used. The most suitable set of values of PID parameters implemented for safe and effective navigation of the robots have been presented. Computer simulation is done using MATLAB software.