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Determination of Best Proportional (P) Value within
PID System for an Autonomous Vehicle
Kelvin Tan Yong Seang
Supervisor: Dr. Ahmad Faisal Bin Mohamad Ayob
Bachelor of Applied Science (Maritime Technology)
School of Ocean Engineering
Universiti Malaysia Terengganu
The application of autonomous systems is an important aspect to increase the
productivity and efficiency, however has not been thoroughly explored with respect to
the maritime industry. In order to assess the performance of an autonomous vehicle,
we have conducted a performance characteristics study using a miniature Autonomous
Ground Vehicle (AGV) which is refitted from an off-the shelf generic system. The AGV
prototype incorporated in this study consists of a modified remote-controlled vehicle
(called AGV-1) that is fitted with a micro-controller, GPS, compass and ultrasonic
sensor. AGV-1 can be programmed via Mission Planner where in study, the
Proportional, P value within Proportional-Integral-Derivative (PID) controller system
shall be studied in depth. PID controller is the basis of AGV-1 control system where P
values shall be manipulated while I and D values will remain constant. Quantitative
data generated by AGV-1 shall be used to analyze the positioning accuracy in terms
of its distance, latitude and longitude via statistical method. It envisaged that through
this study, the P-value analysis may assist vehicle designers to create more stable
autonomous vehicle with obstacle avoidance capability.
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