Strategy Optimization in a Robot Race Using PID

Abstract

In this paper, the proportional-integral-derivative (PID) Controller is optimized to complete a robot challenge, The Race, by the University of Texas at Austin’s Robotics Academy. Optimization is done through three stages: (A) optimizing the PID coefficients of both wheels; (B) optimizing the constant speed, and (C) setting the constant speed to its maximum. Finally, the analysis proves that Method C, which yields the fastest time, approaches the theoretical bound.