Vehicle-Lateral-Control
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Controlling a nonholonomic robot to follow a trajectory with a modified PID Controller.
Vehicle-Lateral-Control
Problem
In this project, lateral movement of a vehicle (a nonholonomic robot) has been controlled. A harmonic path has been considered as the trajectory of the robot in the 2D space. The robot model is a simple bicycle model which is suitable when the velocity is lower than 15 km/h. The controller is a modified PID. To find the best PID gains, a Gradient Descent Optimization Algorithm was utilized.
Dynamical system, inputs and other variables
![](https://github.com/MustafaLotfi/Vehicle-Lateral-Control/blob/main/docs/images/1.png)
Preview
![](https://github.com/MustafaLotfi/Vehicle-Lateral-Control/blob/main/docs/images/2.gif)
System input
![](https://github.com/MustafaLotfi/Vehicle-Lateral-Control/blob/main/docs/images/3.jpg)
How to run
1.Clone the repository.
2.Change initial conditions in initialize.m file if you want.
3.Run main.m in Matlab.