Path Tracking Control of Patrol Unmanned Vehicle Based on GWO-PID
DOI: 10.23977/acss.2022.060312 | Downloads: 15 | Views: 727
Author(s)
Jinlong Zheng 1, Meng Li 1
Affiliation(s)
1 School of Electrical Engineering, University of Jinan, Jinan, 250000, China
Corresponding Author
Jinlong ZhengABSTRACT
Aiming at the problems that the traditional PID control parameters are complex to set and it is difficult to find the optimal parameters, which affects the accuracy and stability of the path tracking control of patrol unmanned vehicles, a GWO-PID path tracking control system is designed by combining gray wolf optimization algorithm with PID control algorithm. In this paper, the kinematic model of patrol unmanned vehicle is established at first, and the corresponding simulation model is designed in MATLAB. The front wheel angle is controlled by PID controller to realize the path tracking of the unmanned vehicle; Then gray wolf optimization algorithm is used to optimize the parameters of PID control, and the optimized parameters are simulated. The results show that the optimized PID controller has better control effect; Finally, the actual path tracking test is carried out with reference to the optimized parameters, and the test effect is good.
KEYWORDS
Gray Wolf Optimization Algorithm, Path Tracking, Patrol Unmanned VehicleCITE THIS PAPER
Jinlong Zheng, Meng Li, Path Tracking Control of Patrol Unmanned Vehicle Based on GWO-PID. Advances in Computer, Signals and Systems (2022) Vol. 6: 102-109. DOI: http://dx.doi.org/10.23977/acss.2022.060312.
REFERENCES
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