ISSA-PID Optimization Algorithm Design for Mobile Robot Differential Motion Control
Corressponding author's email:
phamngocthangutehy@gmail.comDOI:
https://doi.org/10.54644/jte.2026.1994Keywords:
Mobile robot, Trajectory tracking, PID control, Improved Sparrow Search Algorithm (ISSA), Intelligent optimizationAbstract
In recent years, trajectory tracking for differential-drive mobile robots has been widely studied due to the growing demand for applications in logistics, autonomous transportation, and surveillance. Consequently, improving tracking accuracy and ensuring stable operation under disturbances and uncertainties have become important directions for autonomous navigation systems. To address this problem, various control methods have been applied, among which the PID controller remains popular thanks to its simple structure and ease of implementation. However, conventional control schemes often depend heavily on manual parameter tuning and are sensitive to disturbances and model uncertainties; moreover, their performance may deteriorate in the presence of actuator saturation and wheel slip, leading to oscillations and the integral windup phenomenon. Based on these considerations, this paper proposes a control strategy that combines an improved PID controller with an Improved Sparrow Search Algorithm (ISSA) to optimize the PID parameters for trajectory tracking. The effectiveness of the proposed method is validated through simulations on a figure-eight trajectory and evaluated using metrics such as RMSE, maximum tracking error, oscillation level, and control effort. The results demonstrate that the proposed PID–ISSA approach improves both tracking accuracy and stability compared with basic PID configurations.
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