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All Journal Perfecting a Video Game with Game Metrics Proceeding of the Electrical Engineering Computer Science and Informatics TEKNOKOM : Jurnal Teknologi dan Rekayasa Sistem Komputer International Journal of Engineering Continuity
Yingzhong Tian
Shanghai University
Civil Engineering, Building, Construction & Architecture Computer Science & IT Electrical & Electronics Engineering Engineering Materials Science & Nanotechnology Mechanical Engineering

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Journal : TEKNOKOM : Jurnal Teknologi dan Rekayasa Sistem Komputer

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THE ACA-BASED PID CONTROLLER FOR ENHANCING A WHEELED-MOBILE ROBOT Heru Suwoyo; Zhou Thong; Yingzhong Tian; Andi Adriansyah; Muhammad Hafizd Ibnu Hajar
TEKNOKOM Vol. 5 No. 1 (2022): TEKNOKOM
Publisher : Department of Computer Engineering, Universitas Wiralodra

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (734.663 KB) | DOI: 10.31943/teknokom.v5i1.74

Abstract

Wall-following control of mobile robot is an important topic in the mobile robot researches. The wall-following control problem is characterized by moving the robot along the wall in a desired direction while maintaining a constants distance to the wall. The existing control algorithms become complicated in implementation and not efficient enough. Ant colony algorithm (ACA), in terms of optimizing parameters, has a faster convergence speed and features that are easy to integrate with other methods. This paper adopts ant colony algorithm to optimize PID controller, and then selects ideal control parameters. The simulation results based on MATLAB show that the control system optimized by ant colony algorithm has higher efficiency than the traditional control systems in term of RMSE.
Co-Authors Abdurohman Abdurohman Andi Adriansyah Andi Adriansyah Chenwei Deng Fengfeng Xi Guangjie Yuan Long Li Muhammad Hafizd Ibnu Hajar Muhammad Hafizd Ibnu Hajar Suwoyo, Heru Wenbin Wang Yifan Li Zhou Thong