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differential steering control by single genetic PID

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differential steering control by single genetic PID

by

Paolo Di Prodi (view profile)

 

14 Apr 2007 (Updated )

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.
Kinematic model include: constant velocities and variable velocities model.
Accurate and simplified kinematics are provided such that the designer can easily implement the kinematics control on a microcontroller.
The PID controller is tuned by an offline GA to follow a straight line for a dead reckoning task.

Acknowledgements

This file inspired Genetic Disorder Detection Using Gyromagnetic Ratio.

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

Code a bit confusing just for the organization but it's working well. Good job.

17 May 2007 Massimo Tarantelli

Very good code!

17 May 2007 Giuseppe Miscione

Excellent code!

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