Sintonia de Controladores PID Aplicada a Robôs Uniciclos Utilizando o Algoritmo do Lobo Cinzento (GWO)

Abstract

Industrial AGVs have a wide range of applications in manufacturing processes, providing flexibility and safety for operators. PID controllers are commonly used for controlling these robots. This study proposes optimizing a PID controller for a unicycle-type AGV using the Gray Wolf Optimization (GWO) algorithm, a heuristic technique inspired by the hunting behavior of gray wolves. The PID controller’s performance is compared with a conventional kinematic controller, considering different trajectories and running simulations to evaluate standard and mean errors in robot responses. The study also examines the impact of iteration numbers and search agents on algorithm performance and suggests future improvements.