Implementación de un robot seguidor de línea para la comparación de un controlador de lógica difusa y un controlador pid

Abstract

The objective established for this work was to implement a line follower robot for the comparison between a PID controller and a fuzzy logic controller, using mechanical and electronic elements for its assembly. Its operation involves programming and tuning in the Arduino IDE code editor. The second one was completed with the trial and error method for having a precise displacement in the track and getting the parameters values: error, position, and speed of the control, while for PID controller, this method gives random values for the proportional and derivative constants. On the other hand, the Fuzzy controller uses this method with linguistic labels in order to establish intervals to the input and output variables, membership functions, and inference rules that conforms the fuzzy sets, so this work correctly. For comparison, journey time and linear graphs tests were carried out for the parameters, obtaining better results in terms of time, position and error of the PID controller and control speed on the fuzzy controller. According to the results, it is identified that the PID controller has higher error stability in its journey and Fuzzy controller sends less abrupt control signals to the motors, also deteriorates and wears down in minor proportion the batteries and brushes when the voltage changes are less abrupt. When performing each test run, the track and the wheels must be cleaned, also is necessary having a suitable environment for temperature and lighting.