PID ControllerI have heard many times that "the system won't converge using the P term alone"."Maybe that's why the bot did the drunk walk". If I can simulate mobility models in MATLAB, I can probably simulate a differential drive robot too. After working out the maths for the forward kinematics of differential drives, here's some results: The Primitive SolutionThe algorithm: curve to the left if it's too far to the right, and vice versa. It's not even a P-controller because the amount of correction is not proportional to how far it is away from the center. It works, but it wobbles: ... and clearly does not converge - it is unstable. If this trend continues, the bot will hit the wall eventually. A Proportional-Controller A controller with a proper P term (and P term only): It can't even complete the track before hitting the wall. Let alone the fact that a real ultrasonic sensor won't work during those sections with 45 degree heading. A PD-controller The "proper" way: add a differential term. |

Stanley H.I. Lio >