Authors:
Sami Allou
and
Youcef Zennir
Affiliation:
Automatic Laboratory of Skikda, Université 20 août 1955 Skikda, Skikda and Algeria
Keyword(s):
Mobile Robot, Particles Swarm Optimization, PID Controller, Fuzzy Controller, Kinematic Vehicles Model, Trajectory Tracking, V-Rep 3D Simulation.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Computational Intelligence
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Optimization Algorithms
;
Robotics and Automation
;
Soft Computing
;
Vehicle Control Applications
Abstract:
The work presented in this paper focuses on platonning navigation control (train of vehicles) according to different trajectories. As a first step we based our study on two vehicles. an kinematic model of the two vehicles is described followed by a PID multi-controller control approach based on conventional PID, PID optimized by Particle Swarm Optimization (PSO) technique and fuzzy controller applied to the longitudinal and lateral control of each vehicle. Controller parameters optimization is based on a fitness function time weight square error (ITSE). The communication between the two vehicles is ensured with the exchange of information, the speed and orientation angle, respecting the safety distance between the vehicles. To approve our approach we have use different reference trajectory in different simulations in matlab-simulink environment and v-rep 3D simulation. The simulation obtained results illustrate the efficiency of our control design and open the perspectives for future
work.
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