Particle Swarm Optimization-Based Optimal Controller for an Autonomous System
摘要
Recent advances in autonomous agents like smart autonomous wheelchairs have enabled independent mobility and independence for people with mobility impairments like cerebral palsy, amputation paralysis, muscular dystrophy, and spinal cord injury. The smart autonomous wheelchair system relies on efficient and accurate control techniques to negotiate diverse terrains securely and comfortably for patients. Smart wheelchair speed regulation affects system stability, efficiency, maneuverability, and user pleasure. This study presents a Particle Swarm Optimization-based PID controller for wheelchair speed control. The suggested technique optimizes tracking accuracy, settling-time, rising-time, and response peak-overshoot by rewriting the control issue as an optimization function.