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Paper Title
Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation
Authors
Adarsh Mittal , Ishan Kumar
Keywords
Line following, PID control, anti-windup, gain scheduling, embedded control, reflectance sensors, differential- drive robot.
Abstract
Line-following robots remain a canonical bench- mark for closed-loop control on embedded platforms because they combine non-linear sensing, actuator saturation, and tight real-time constraints. Although proportional-integral-derivative (PID) control is widely used, deployments frequently suffer from oscillation on sharp curves, integral windup under actuation limits, and sensitivity to surface reflectance changes. This paper presents a curvature-aware discrete PID design for differential- drive line followers that (1) uses a filtered centroid-based error estimator from a reflectance array, (2) incorporates derivative filtering and back-calculation anti-windup for stability under PWM saturation, and (3) applies lightweight gain scheduling driven by an online curvature proxy derived from the sensor profile. We provide a reproducible modeling pipeline, embedded implementation details for 1 kHz control, and an evaluation pro- tocol across three track types (low-curvature, mixed, and high- curvature). Results show that the proposed controller reduces mean absolute lateral error by 3.6% versus a fixed-gain PID and by 44.6% versus a Ziegler-Nichols tuned PID, while improving the 95th-percentile error and reducing oscillatory behavior at high speed. All figures are generated from included scripts, and all references are provided in a BibTEX database
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IJCRT — journal style
"Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation", IJCRT - International Journal of Creative Research Thoughts (www.ijcrt.org), ISSN:2320-2882, Vol.4, Issue 4, page no.441-461, December 2016, Available :https://ijcrt.org/papers/IJCRT1136203.pdf
APA — 7th edition
Mittal, A., & Kumar, I. (2016). Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation. International Journal of Creative Research Thoughts, 4(4), 441-461. https://ijcrt.org/viewpaperforall.php?paper=IJCRT1136203
MLA — 9th edition
Mittal, Adarsh, and Ishan Kumar. "Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation." International Journal of Creative Research Thoughts, vol. 4, no. 4, 2016, pp. 441-461, https://ijcrt.org/viewpaperforall.php?paper=IJCRT1136203.
Chicago — 17th, bibliography
Mittal, Adarsh, and Ishan Kumar. "Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation." International Journal of Creative Research Thoughts 4, no. 4 (2016): 441-461. https://ijcrt.org/viewpaperforall.php?paper=IJCRT1136203.
Harvard — author–date
Mittal, A. and Kumar, I. (2016) 'Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation', International Journal of Creative Research Thoughts, 4(4), pp. 441-461. Available at: https://ijcrt.org/viewpaperforall.php?paper=IJCRT1136203
IEEE — numbered reference
A. Mittal and I. Kumar, "Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation," IJCRT, vol. 4, no. 4, pp. 441-461, Dec. 2016.
Vancouver — biomedical
Mittal A, Kumar I. Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation. IJCRT. 2016 Dec;4(4):441-461.
AMA — 11th edition
Mittal A, Kumar I. Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation. IJCRT. 2016;4(4):441-461. Accessed at https://ijcrt.org/viewpaperforall.php?paper=IJCRT1136203
BibTeX — Zotero, Mendeley, LaTeX
@article{IJCRT1136203,
author = {Adarsh Mittal and Ishan Kumar},
title = {Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation},
journal = {International Journal of Creative Research Thoughts},
volume = {4},
number = {4},
pages = {441-461},
year = {2016},
month = {December},
issn = {2320-2882},
url = {https://ijcrt.org/viewpaperforall.php?paper=IJCRT1136203}
}
RIS — EndNote, RefWorks
TY - JOUR
AU - Mittal, Adarsh
AU - Kumar, Ishan
TI - Curvature-Aware Discrete PID with Anti-Windup for High-Speed Line-Following Robots: Modeling, Implementation, and Repeatable Evaluation
T2 - International Journal of Creative Research Thoughts
JA - IJCRT
VL - 4
IS - 4
PY - 2016
SN - 2320-2882
UR - https://ijcrt.org/viewpaperforall.php?paper=IJCRT1136203
SP - 441
EP - 461
ER -
Issue
Volume 4 Issue 4,
December-2016
Pages : 441-461
Article Information
- Pages
- 441-461
- Published
- December 2016
- Registration ID
- IJCRT_299994
- Published Paper ID
- IJCRT1136203
- Research Area
- Science and Technology
- Author Type
- Indian Author
- Location
- India
- Peer Review
- Request Peer Review Report
- Licence
- CC BY 4.0 · Open Access
- ISSN & Impact Factor
- 2320-2882 · IF 9.17
- Downloads
- 378
- Permanent Link
- https://ijcrt.org/viewpaperforall.php?paper=IJCRT1136203
- Published Paper PDF
- https://ijcrt.org/papers/IJCRT1136203.pdf
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International Journal of Creative Research Thoughts
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