Speed Control of Wheeled Mobile Robot by Nature-Inspired Social Spider Algorithm-Based PID Controller

Mobile robot is an automatic vehicle with wheels that can be moved automatically from one place to another. A motor built in its for mobility purposes, which controlled using a controller. DC speed by the proportional integral derivative (PID) Kinematic modeling used our work understand mechanical behavior of robots designing appropriate mobile robots. Right and left wheel velocity direction are calculated kinematic modeling, given PID controller gain output. Motor low-level mobility; controlling done constant values Kd, Kp, Ki depend on past, future, present errors. For better control performance, gain, differential adjusted Robot may vary changing vehicle, so avoid this Social Spider Optimization (SSO) algorithm controllers. parameter tuning hard separate algorithms, parameters tuned SSO novel nature-inspired algorithm. The main goal paper demonstrate effectiveness proposed approach achieving precise robot, particularly presence disturbances uncertainties.