differential steering control by single genetic PID: leftpos=LeftWheelLoc(position,bw) - File Exchange

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Highlights from
differential steering control by single genetic PID

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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from differential steering control by single genetic PID by Paolo Di Prodi
A framework for a differential steering vehicle controlled by a PID system tuned with a genetic algo

leftpos=LeftWheelLoc(position,bw)

%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL

function leftpos=LeftWheelLoc(position,bw)
%% this function calculate the left wheel position of the robot
theta=position(3);
lx=position(1)+bw/2*cos(theta+pi/2);
ly=position(2)+bw/2*sin(theta+pi/2);
leftpos=[lx,ly];
end

Highlights from differential steering control by single genetic PID

Highlights from
differential steering control by single genetic PID