- In this project, I've implemented a simple goal-to-goal PID controller to control a robot with a Differential Drive.
- In the simulation, the robot can follow the route given itself using the PID controller.
- I've used the mathematical models of Differential Drive robots to simulate the physical behaviour of the robot.
This project uses PipEnv to create and use virtual environments for ease up the development process. You can install it by using this command pip install pipenv
Here you can see an example simulation for:
start = State(-20, 15, math.radians(90))
targets = [State(0, 20, 0), State(20, 10, 0), State(0, 5, 0), State(-10, -15, 0), State(0, -10, 0), State(8, -10, 0) ]
Note: An extra robot has been placed in (20,-10) coordinates. The placement of this robot can be changed by giving an extra x and y coordinates in function drawPlot.
git clone https://github.com/BurakDmb/DifferentialDrivePathTracking.git
cd DifferentialDrivePathTracking
pipenv install
pipenv run python main.py