Skip to content

A path following differential drive robot controlled using a PID controller and Model Predictive Controller (MPC)

Notifications You must be signed in to change notification settings

zainkhan-afk/Differential-Drive-Robot-Navigation

Repository files navigation

Differential Drive Robot Navigation

This repository simulates a two wheeled differential drive robot. The robot is placed in an empty environment and it follows a path. The robot can follow a given path using either a PID controller or a Model Predictive Controller (MPC).

Simulation Details

The mathematical models of robot kinematics and state update are used to simulate the robot movement. The robot inputs are the linear and angular velocities and the robot state consists of x, y and θ. The MPC and the PID controllers try to minimize the distance and angle between the robot centroid and the path point which in turn makes the robot follow its path.

The robot is rendered using openCV.

Running the code

You can either run the main.py file or the controller_comparison.py. When running the main.py the following command should be type:

python main.py controller_name

Where controller_name can either be MPC or PID. Once the main.py if executed the user has to click on the screen to place way points and the robot will try to follow the path.

Users can alternatively run the following command:

python controller_comparison.py

This will start the program where two cars (one controlled by MPC and the other by PID) have to follow a predefined path.

The gif below shows the result of the controller comparison.

Controller Comparison gif

About

A path following differential drive robot controlled using a PID controller and Model Predictive Controller (MPC)

Topics

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages