PARTICLE SWARM OPTIMIZATION-BASED OPTIMAL PID CONTROL OF AN AGRICULTURAL MOBILE ROBOT

This study involved the motion control of a four-wheel drive robot for use in agriculture. A mathematical model was used to perform a systematic kinematic and dynamic analysis of a four-wheel skid-steer agrobot. The dynamic model of the agrobot was based on a kinematic analysis of its non-holonomic structure. Polar space kinematic and dynamic control methods were proposed for both trajectory tracking and stabilization of the mobile agrobot, which incorporated four equally-spaced skid-steer wheels. Particle swarm optimization (PSO) was used to optimize the parameters of a proportional-integral-derivative (PID) controller. The aim of the control strategy was to solve the problem using control elements. The system was implemented in a simulation program, and a system performance analysis was performed. Simulation results demonstrated the robustness and stability of the motion control system under various conditions. The proposed routing control strategy was found to possess the advantage of smooth path-tracking.