https://github.com/mkner/robo-pid

RoboPID is a PID controller designed for Autonomous Mobile Robotics to handle the combined kinematic and dynamic complexity of differential drive linear and lateral wheeled motion control. The controller implements timestep integration and can be used in discretized time regulators.
https://github.com/mkner/robo-pid

autonomous-mobile-robots differential-drive-robot discretized-time-regulators mobile-robotics pid pid-controllers robotic-motion-control

Last synced: about 1 month ago
JSON representation

RoboPID is a PID controller designed for Autonomous Mobile Robotics to handle the combined kinematic and dynamic complexity of differential drive linear and lateral wheeled motion control. The controller implements timestep integration and can be used in discretized time regulators.

• Host: GitHub
• URL: https://github.com/mkner/robo-pid
• Owner: mkner
• License: bsd-2-clause
• Created: 2023-10-30T20:01:39.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2024-05-14T20:44:58.000Z (7 months ago)
• Last Synced: 2024-11-10T02:43:25.215Z (about 1 month ago)
• Topics: autonomous-mobile-robots, differential-drive-robot, discretized-time-regulators, mobile-robotics, pid, pid-controllers, robotic-motion-control
• Language: Python
• Homepage: https://pypi.org/project/robo-pid/
• Size: 368 KB
• Stars: 2
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Changelog: changelog
  • License: LICENSE

Awesome Lists containing this project

README

        

A Python PID Controller For Mobile Robotics

**RoboPID** is PID controller designed to handle the combined kinematic 

and dynamic complexity of mobile robotics. The controller implements timestep

integration and can be used in discretized time regulators.

**RoboPID** has proven to be a tested, reliable PID controller that can

regulate the dynamic balance and rapid response required for differential drive

linear and lateral wheeled motion control. It has been used, for example with mobile

robotic systems for LVC (Linear Velocity Control) for regulating wheel velocities, 

LVDR (Lateral Velocity Differential Regulator) for keeping the wheel velocities in sync for 

differential drive mobile robots when traversing a straight line path and 

ADVR (Angular Differential Velocity Regulator) for tracking a heading angle using typical

motion control input signals (v,w) for linear velocities and angular orientation rotational rates.

The PID controller supports 2 modes of operation: **Integrative** and **Iterative**

In **Integrative Mode**, the timestep integrations are calculated inside the controller

and the output from the PID controller for the current timestep is used directly or with 

modifications and sent to the device or process plant as the current input signal without

further iterative integration.

In **Iterative Mode**, the PID timestep integrations are manually calculated and updated

outside the controller in the algorithm that calls the PID controller for the output of

the PID at the current timestep.

Installation: 

$ **pip** install robo-pid

For documentation see https://robo-pid.readthedocs.io/en/latest/