Trajectory Following Control Algorithm for Ground Robots Navigating Planning Algorithm Paths
Open Access
Author:
Malencia, Matthew Paul
Area of Honors:
Electrical Engineering
Degree:
Bachelor of Science
Document Type:
Thesis
Thesis Supervisors:
Minghui Zhu, Thesis Supervisor Jeffrey Scott Mayer, Thesis Honors Advisor
Keywords:
Autonomous Control Robotics PID Path-planning RRT
Abstract:
Autonomous robotic systems have many military and industrial applications. Research on the control of ground robots can lead to advancements in unmanned military vehicles and driverless cars. Many studies have been conducted in this field, especially in regards to path-planning algorithms. While this path-planning research is extensive, its implementation is lacking in many studies. The studies in which experimentation exists contain controllers with poor tracking performance. This study seeks to address this tracking performance problem.
It is believed that a smart design of a PID controller can improve the tracking performance. This study aims to design a PID controller for ground robots following planning algorithm paths. This study uses MATLAB to simulate the controller, and it uses a differential drive robot to implement the controller to follow a trajectory generated by an RRT* path planning algorithm. It is found that a PID controller using cross-track error provides strong tracking performance in both simulation and experimentation. It is also found that the addition of a PID controller using heading error improves tracking error. Based on these results, the study recommends further development of the control algorithm to include velocity control and continued experimentation in dynamic environments.
