Tracking of mobile robot using hybrid controller

In this paper, a novel approach of hybrid controller made up of Proportional-Integral-Derivative (PID) controller and Support Vector Machine (SVM) is proposed, for the navigation of mobile robot. In proposed hybrid technique, the two parameters of mobile robot i.e. velocity and turning angles are controlled by PID controller and support vector machine respectively. Particle Swarm Optimization (PSO) technique is used to find the global optimum values of PID parameters within the search space. PSO technique helps to achieve, stable convergence characteristics and fast tuning of the process. The proposed hybrid approach enables mobile robot to track path accurately with computational efficiency. Robustness and accuracy of the proposed hybrid model is illustrated through simulation results for circular and random path.