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Framework for differential steering vehicle

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Framework for differential steering vehicle

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A framework for a differential steering vehicle controlled by a PID system tuned with a genetic algo

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Description

A framework for a differential steering vehicle controlled by a PID system tuned with a genetic algorithm.
The framework provide 2 level of simulation:
constant velocities for the wheels or non constant.
Different kinematics approssimations are provided for scalability so that the designer can implement the controller directly on a microcontroller or DSP.
Different genetic strategies to tune the PID.
The basic task is to follow a straight line but the user can define its own task and tune the PID with the GA.

Required Products Global Optimization Toolbox
MATLAB release MATLAB 7.3 (R2006b)
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Comments and Ratings (3)
17 May 2007 Alberta Pelliccione

Very good framework but you should add the inverse kinematics for other manipulators.
Anyway nice code and well commented.

17 May 2007 Giuseppe Miscione

Excellent code!

16 Apr 2007 Lynsey McCabe  

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