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Highlights from
Framework for differential steering vehicle

DrawRobotPosition(position,bw... Author: epokh
DrawWheelTrace(trace,color) Author: epokh
N=get_simpson_intervals(A,B,C... Author: epokh
[T,Y,Theta]=Adamsbm(t0,tmax,n... Author: epokh
[T,Y,Theta]=MilneSimpsonAcc(t... Author: epokh
[T,Y,Theta]=RungeKutta4(t0,tm... Author: epokh
[Yd,Y2d,Ct,position_pts]=simP... Author: epokh
[Yd,Y2d,Ct,position_pts]=simP... Author: epokh
[theta,x,y]=deadReckonSpace(x... Author: epokh
dxdt=dxdtOde(t,y) Author: epokh
dydt=dydtOde(t,y) Author: epokh
getSimpsonIntervalsStart(ar,a... Author: epokh
heading=NoseLocation(position... Author: epokh
leftpos=LeftWheelLoc(position... Author: epokh
new_pos=deadReckonSimpson(ar,... Author: epokh
new_position=deadReckonSpace(... Author: epokh
new_position=deadReckonTimeVe... Author: epokh
new_position=deadReckonTimeVe... Author: epokh
new_position=deadReckonTimeVe... Author: epokh
new_position=deadReckonTimeVe... Author: epokh
position=deadReckonAccelerati... Author: epokh
position=deadReckonAccelerati... Author: epokh
radius=calculate_radius(b,vr,... Author: epokh
rightpos=RightWheelLoc(positi... Author: epokh
value=errorPIDga(K) Author: epokh
value=errorPIDgaNoWind(K) Author: epokh
value=errorPIDgaNoWind2(K) Author: epokh
value=errorPIDgaNoWind3(K) Author: epokh
value=errorPIDgaNoWind4(K) Author: epokh
value=errorPIDgaNoWind5(K) Author: epokh
value=errorPIDgaNoWind6(K) Author: epokh
value=errorPIDgaNoWindFFT(K) Author: epokh
value=errorPIDgaPointShoot2(K... Author: epokh
value=errorPIDgaPointShoot2(K... Author: epokh
value=errorPIDgaTaylor(K) Author: epokh
value=errorPIDgaWind(K) Author: epokh
vect_vel=curve(initial_pos,fi... Author: epokh
ydrift=dydt(vr,vl,theta0,t,b) this function calculate the drift from the center line (x axis)
ydrift=dydtTaylor(vr,vl,theta... Author: epokh
yrate=d2ydt2(vr,vl,theta0,t,b... Author: epokh
yrate=d2ydt2Taylor(vr,vl,t,b,... Author: epokh
comparePID.m
curveExample.m
simAcceleration.m
simAccelerationAdam.m
simAccelerationRK4.m
simAccelerationSimpson.m
simLego1.m
simLego2.m
simLego3.m
simLego4.m
simLego5.m
simLegoPID.m
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Framework for differential steering vehicle

by Paolo Di Prodi

12 Apr 2007

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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Everyone's Tags	differential steering pid tuning genetic, pid tuning using genetic algorithm, simulation
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Comments and Ratings (3)
16 Apr 2007	Lynsey McCabe
17 May 2007	Giuseppe Miscione	Excellent code!
17 May 2007	Alberta Pelliccione	Very good framework but you should add the inverse kinematics for other manipulators. Anyway nice code and well commented.

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Tag Activity for this File
Tag	Applied By	Date/Time
simulation	Paolo Di Prodi	22 Oct 2008 09:09:01
differential steering pid tuning genetic	Paolo Di Prodi	22 Oct 2008 09:09:01
pid tuning using genetic algorithm	shao	18 Apr 2011 11:22:01

Highlights from Framework for differential steering vehicle

Framework for differential steering vehicle

Highlights from
Framework for differential steering vehicle