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The aim of this work is to present an optimization approach based on the principle of collective intelligence to solve complex problems and to apply this in particular to a problem of tracking the trajectory of omnidirectional mobile manipulators. This involves the particle swarm optimization (PSO) of the gain factors of a PID control allowing a three-wheeled omnidirectional mobile robot to follow a given trajectory. The problem is posed in terms of nonlinear optimization with constraints in a kinematic context. The developed kinematic model corresponds to a Robotino type robot. Simulation results for different trajectories are presented.

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A PSO Based Optimization Method for Tuning PID Controller of an Omnidirectional Mobile Robot

  • 会议论文

  • 发表日期：

    2026年

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  • Abdelhakim Chibani,
  • Ammar Khadraoui,
  • Chawki Mahfoudi

摘要

The aim of this work is to present an optimization approach based on the principle of collective intelligence to solve complex problems and to apply this in particular to a problem of tracking the trajectory of omnidirectional mobile manipulators. This involves the particle swarm optimization (PSO) of the gain factors of a PID control allowing a three-wheeled omnidirectional mobile robot to follow a given trajectory. The problem is posed in terms of nonlinear optimization with constraints in a kinematic context. The developed kinematic model corresponds to a Robotino type robot. Simulation results for different trajectories are presented.