Design and Implementation of PID Control-based FSM Algorithm on Line Following Robot

  • Adnan Rafi Al Tahtawi Department of Computer Engineering, Politeknik Sukabumi
  • Yoyo Somantri Department of Electrical Engineering Education, Universitas Pendidikan Indonesia
  • Erik Haritman Department of Electrical Engineering Education, Universitas Pendidikan Indonesia
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DOI https://doi.org/10.31544/jtera.v1.i1.2016.23-30
Published 2017-01-21
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Abstract

Finite State Machine (FSM) is a control system methodology that describes system’s behavior using three things, namely: state, event, and action. On a program, the system would be in one active state. The system can switch or move to another state if it gets a certain input or event.  In this paper, FSM based on Proportional-Integral-Derivative (PID) controller algorithm will be implemented on line follower robot. PID controller is one of system control methods that many used recently. FSM based on PID controller is implemented to keep robot tracking the line trajectory as well. The test result shows that designed algorithm can work well and can be used as a based algorithm of this robot.

Keywords

algorithm Finite State Machine (FSM) Proportional-Integral-Derivative (PID) robot line follower

References

Schwartz, Scott, “Self-Adjusting Finite State Machines: an approach to Real-Time Autonomous Behavior in Robotsâ€, Computer Science Honors Theses, Paper 9, 2005
Konig, Lukas, et al, “Decentralized Evolution of Robotic Behavior Using Finite State Machinesâ€, International Journal of Intelligent Computing and Cybernetics, 2009
Levin, Ilya, et al, “Robot Control Teaching with a State Machine-based Design Methodâ€, Int. Journal Engineering Education (IJEE), Vol. 20, No. 2, pp. 1-10, 2004
Nath, A.S. et al, “Implementation of PID Control to Reduce Wobbling in a Line Following Robotâ€, International Journal of Research in Engineering and Technology (IJRET), Vol. 02, Issue 10, 2013
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Ibrahim, Dogan, Microcontroller Based Applied Digital Control, Departement of Computer Engineering, Near East University Cyprus, Willey, 2006
Datasheet DFRduino RoMeo User Manual

Issue

Vol. 1 No. 1: December 2016

Section

Articles

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How to Cite

[1]
“Design and Implementation of PID Control-based FSM Algorithm on Line Following Robot”, JTERA, vol. 1, no. 1, pp. 23–30, Jan. 2017, doi: 10.31544/jtera.v1.i1.2016.23-30.