Projeto e desenvolvimento de um carro autônomo seguidor de linha e aplicação de um algoritmo genético na otimização do PID

Abstract

In this document of course conclusion, the process of construction of a follower line autonomous car will be presented. This vehicle is capable of traveling a path marked by a line, technology possible to be implemented in vehicles for human transport or cargo. In order to improve the efficiency of the vehicle controler system, to help it to complete a route in the shortest time possible and to minimize the oscillations in the car's movement in relation to the runway limit, a PID (proportional derivative integrative) was implemented, the developed system uses proportional, integral and derivative gains in order to adjust the average voltage in the motors. To optimize the PID coefficients, a Genetic Algorithm was implemented, which is a method of Artificial Intelligence. During the optimization process, the AG generates a series of combinations for the coefficients at random (in the first time), evaluating the result obtained with each combination generated, and, through an evolutionary process, define the best result obtained.