robo-pid 0.2.5

PID Controller For Mobile Robotic Regulators

robo-pid

A Python PID Controller For Mobile Robotics

Robo PID is a PID controller designed for Autonomous Mobile Robotics and can handle the combined kinematic and dynamic complexity of differential drive lateral and linear wheeled motion control. The controller implements timestep integration that is designed to be used in discretized time regulators.

Robo PID has proven to be a tested, and reliable PID controller. It has been used, for example, with mobile robotic systems for LVC (Linear Velocity Control) for regulating wheel velocities, LVDR (Lateral Velocity Differential Regulator) for keeping the wheel velocities in sync for differential drive mobile robots when traversing a straight line path and ADVR (Angular Differential Velocity Regulator) for tracking a heading angle using typical motion control input signals (v,w) for linear & angular velocities.

It supports 2 modes of operation: Integrative and Iterative

In iterative mode, the timestep integration for updating an input signal is done in the algorithm that calls the PID controller for the ouput of the PID at the current timestep.

In integrative mode, the timestep integration is done inside the controller and the output from the PID controller for the current timestep is used directly to be sent to the process plant as the current input signal.

Installation:

$ pip install robo-pid

For documentation see https://robo-pid.readthedocs.io/en/latest/