HYBRID PID-DIFFUSED CONTROL IN ROBOT NON-HOLONOMIC LINE FOLLOWER

Abstract

This paper represents the manufacture of a line follower robot with a hybrid control algorithm based on fuzzy logic. To control the position of the robot, a diffuse PD + I control was implemented and for the speed control, a PI controller with odometrical feedback was used. The robot under study is a line tracker of the differential traction type. From a mathematical point of view we can consider the mobile robot type differential traction as a non-holonomic robot and its kinematic, dynamic and control equations are very complex. From the previous consideration the fuzzy logic is a good alternative for the development of controllers based on artificial intelligence and the expertise of the process to be controlled.