@inproceedings{af22bc22eb054d629bd1b235d8692a5d,
title = "SELECTED METHODS OF PID CONTROLLER TUNING FOR MOBILE WHEELED ROBOTS",
abstract = "The paper presents a comparative analysis of classical and heuristic methods of tuning PID controllers for the purposes of controlling two-wheeled mobile platforms. For a given mathematical model of a mobile robot, regulators were tuned using classical methods (Ziegler-Nichols-ZN, Cohen-Coon-CC, Chien-Hrones-ReswickCHR) and the results were compared with regulators tuned using heuristic methods (genetic algorithms-GA, particle swarm optimization-PSO, optimization with ant colony algorithm-ACO). The quality of regulation was compared using the integral criterion.",
keywords = "Mobile Robot, Optimization, PID Regulator, Trajectory",
author = "Karol Kania and Artur Babiarz",
note = "Publisher Copyright: {\textcopyright} 2023 ESM. All Rights Reserved.; 37th Annual European Simulation and Modelling Conference, ESM 2023 ; Conference date: 24-10-2023 Through 26-10-2023",
year = "2023",
language = "English",
series = "Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023",
publisher = "EUROSIS",
pages = "289--293",
editor = "Rob Vingerhoeds and \{de Saqui-Sannes\}, Pierre",
booktitle = "Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023",
}