Mastang

Budget-Efficient PID Tuning of a Line-Following Differential-Drive AGV Using Extra Trees Surrogate-Assisted CMA-ES

Physical PID tuning for line-following automated guided vehicles (AGVs) is sample-inefficient because the gain-to-performance relationship is nonlinear and noisy, while every candidate must be executed on the real platform. Conventional population optimizers can therefore spend a limited experimental budget on unproduc...