Wheeled Mobile Robot Path Planning and Path Tracking in a static environment using TLBO AND PID- TLBO control
Achouri Mourad, Zennir Youcef · 2022 IEEE 21st international Ccnference on Sciences and Techniques of Automatic Control and Computer Engineering (STA) · 2022
the autonomous mobile robot has gained an increasing interest, namely its application in several fields, especially transportation. A robot may transport a hazardous materials in an environment cluttered with an obstacles hence the design of a safest path is an urgent requirement for the success of mission. Our study aims to introduce Teaching Learning based optimization (TLBO) to solve path planning of robot mobile. The proposed approach is based on meta-heuristic optimization which address the length and safety objectives. Furthermore the applied algorithm is devoted to find out the PID parameters for the path tracking of the obtained trajectory. The obtained results of simulation proves the efficiently of the implemented algorithm for finding the optimal path and the best parameters of PID controller for Path Tracking.