A motion control system for a mobile floor cleaning robot using the proportional-integral-derivative method

Floor cleaning robots are designed to perform tasks in unstructured environments based on human-provided logic. Many commercially available robots use inefficient random methods, creating a need for a more precise navigation and motion control system. The research contribution is the practical implementation and evaluation of a hybrid motion control system using the Proportional-Integral-Derivative (PID) method. This system integrates feedback from rotary encoders and a camera to minimize movement errors and overcome odometry drift. The robot maps a 200cm x 200cm arena. It combines a rotary encoder to measure distance traveled and a camera to detect visual markers for positioning and direction. The PID algorithm processes this fused sensor data to correct the robot’s path. The research successfully determined the optimal PID parameters to be Kp = 1, Ki = 0.07, and Kd = 0.08. With these parameters, the system effectively reduced the average error rate to 6.126% across three tests, demonstrating stable and accurate movement from the start to the final position.