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View Code? Open in Web Editor NEWA simple goal-to-goal PID controller to control a Differential Drive Robot using Python
A simple goal-to-goal PID controller to control a Differential Drive Robot using Python
Could you please illustrate the R
in Controller
class's __init__
in main.py
?
Could you please share your reference materials for code? like blog/tutorials/papers about two wheeled differential drive mobile robot ? like kinematics, path tracking algorithm theory?
Thank you
Hi, I'm trying to implement a 2 wheel robot simulator but I'm stuck on the math part.
I read some of the theory, but as it's been a while since I left college, I'm not acknowledging the terms.
Basically I have 2 speed controls for the robot wheels. If I move L_VEL to max. and leave the R_VEL at 0. I believe the rotation he is doing is not correct...
The Code can be edited online:
https://playground.babylonjs.com/#5LD51R#33
What do L and R mean?
The original
vR = (2*v + w*self.L)/(2*self.R)
vL = (2*v - w*self.L)/(2*self.R)
Maybe should be
vR = v + w*“Track width”/2
vL = v - w*“Track width”/2
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