Qualitative Evaluation of a PID Controller for Autonomous Mobile Robot Navigation Implemented in an FPGA Card

Document Type

Conference Proceeding

Publication Date


Publication Title

Proceedings for the 7th International Conference on Natural Computation




This paper presents a new quantitative and qualitative approach for the design and implementation of a PID controller for autonomous mobile robot navigation. The paper also presents a simple and inexpensive method of designing, implementing, and evaluating the performance of the PID controller. The PID controller was first designed and simulated in Simulink. Then a FPGA card was used to build the PID controller in combination with a Basic Stamp microcontroller that is mainly used to perform I/O processing, sensor fusion, and data acquisition tasks. Finally, the performance of the PID controller, used to control the robot's navigation, was evaluated in real environment situations using a rubric. Results demonstrated that the proposed approach provides a simplified and inexpensive method to design, implement, and evaluate the performance of controllers for mobile robot applications.