Abstract
Mobile robot control requires precision and accuracy to react to unpredictable situations. However, it is non-trivial to design a low-level controller for each wheel that combines fast response and stability in the presence of disturbances. The Proportional-Integral (PI) controller algorithm is the most used technique for DC motors; however, tuning these controllers can become a time-consuming task depending on the number of robots and tuning methodology. We propose a novel telemetry-based strategy to find suitable PI controller parameters more quickly using accurate motor models of the omnidirectional mobile robots obtained from an on-site data sampling mechanism. We evaluate our approach on an omnidirectional robot designed within the RoboCup Small Size League (SSL) competition rules. The results compare the proposed method with a based on Quantitative Feedback Theory (QFT) approach. Our strategy improved on average the robot’s performance by \(17.95\%\) when using Integral Absolute Error (IAE) and by \(12.75\%\) when using Integral Squared Error (ISE) criteria.
Supported by Centro de Informática (CIn - UFPE), Fundação de Amparo a Ciência e Tecnologia do Estado de Pernambuco (FACEPE), and RobôCIn Robotics Team.
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Araújo, V., Martins, F., Fernandes, R., Barros, E. (2022). A Telemetry-Based PI Tuning Strategy for Low-Level Control of an Omnidirectional Mobile Robot. In: Alami, R., Biswas, J., Cakmak, M., Obst, O. (eds) RoboCup 2021: Robot World Cup XXIV. RoboCup 2021. Lecture Notes in Computer Science(), vol 13132. Springer, Cham. https://doi.org/10.1007/978-3-030-98682-7_16
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