PID Controller Optimization for Low-cost Line Follower Robots

TL;DR

This paper presents a heuristic approach to optimize a PID controller for a low-cost line follower robot, enhancing its stability and robustness using off-the-shelf components and detailed analysis.

Contribution

It introduces a modified PID control algorithm and open-loop mechanisms tailored for low-cost differential wheeled robots, with detailed system analysis and practical implementation.

Findings

Improved stability and robustness of the robot control

Effective heuristic system identification method

Open-loop control mechanisms enhance performance

Abstract

In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been constructed using low-cost and off-the-shelf components including a microcontroller, reflectance sensor, and motor driver. This paper describes the heuristic approach used in the identification of the system specifications as well as the optimization of the controller. The PID controller is analyzed in detail and the effect of each term is explained in the context of stability. Lastly, the challenges encountered during the development of controller and robot are discussed. Code is available at: https://github.com/sametoguten/STM32-Line-Follower-with-PID.