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

Preview

System input

How to run

1.Clone the repository.

2.Change initial conditions in initialize.m file if you want.

3.Run main.m in Matlab.