In this study, the optimization of a PID routing algorithm implemented by a mobile robot that tries to reach its destination by avoiding obstacles is described. Simiam mobile robot application which has been done in this subject has been examined. Simiam mobile robot using PID algorithm can not avoid obstacles when changing the obstacle in the environment. The Simiam test environment was used to demonstrate the effectiveness of the algorithm used. It has been observed that PID optimization produces a successful result in a test environment in which the position of the obstacles changes when the simulation outputs are examined.
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