Description: A framework for a differential steering vehicle controlled by a PID system tuned with a genetic algorithm. Kinematic model include: constant velocities and variable velocities model. Accurate and simplified kinematics are provided such that the designer can easily implement the kinematics control on a microcontroller. The PID controller is tuned by an offline GA to follow a straight line for a dead reckoning task.
File list (Check if you may need any files):
deadReckonLego
..............\AdamsbmAcc.m
..............\calculate_radius.m
..............\comparePID.m
..............\curve.m
..............\curveExample.m
..............\d2ydt2.m
..............\d2ydt2Taylor.m
..............\deadReckon1.m
..............\deadReckonAcceleration.m
..............\deadReckonAccelerationRK4.m
..............\deadReckonSimpson.m
..............\deadReckonSpace.m
..............\deadReckonTimeVelocity.m
..............\deadReckonTimeVelocity2.m
..............\deadReckonTimeVelocity3.m
..............\deadReckonTimeVelocityTaylor.m
..............\DrawRobotPosition.m
..............\DrawWheelTrace.m
..............\dxdtOde.m
..............\dydt.m
..............\dydtOde.m
..............\dydtTaylor.m
..............\errorPIDga.m
..............\errorPIDga2.m
..............\errorPIDgaNoWind.m
..............\errorPIDgaNoWind2.m
..............\errorPIDgaNoWind3.m
..............\errorPIDgaNoWind4.m
..............\errorPIDgaNoWind5.m
..............\errorPIDgaNoWind6.m
..............\errorPIDgaNoWindFFT.m
..............\errorPIDgaPointShoot2.m
..............\errorPIDgaTaylor.m
..............\errorPIDgaWind.m
..............\gaoptions.mat
..............\gaproblem.mat
..............\getSimpsonIntervalsStart.m
..............\get_simpson_intervals.m
..............\LeftWheelLoc.m
..............\MilneSimpsonAcc.m
..............\NoseLocation.m
..............\RightWheelLoc.m
..............\Rungekutta4.m
..............\simAcceleration.m
..............\simAccelerationAdam.m
..............\simAccelerationRK4.m
..............\simAccelerationSimpson.m
..............\simLego1.m
..............\simLego2.m
..............\simLego3.m
..............\simLego4.m
..............\simLego5.m
..............\simLegoPID.m
..............\simPID.m
..............\simPIDWindup.m
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