A Python PID Controller For Mobile Robotics

RoboPID is PID controller designed to handle the combined kinematic and dynamic complexity of mobile robotics. The controller implements timestep integration and can be used in discretized time regulators.

RoboPID has proven to be a tested, reliable PID controller that can regulate the dynamic balance and rapid response required for differential drive linear and lateral wheeled motion control. 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 velocities and angular orientation rotational rates.

The PID controller supports 2 modes of operation: Integrative and Iterative

In Integrative Mode, the timestep integrations are calculated inside the controller and the output from the PID controller for the current timestep is used directly or with modifications and sent to the device or process plant as the current input signal without further iterative integration.

In Iterative Mode, the PID timestep integrations are manually calculated and updated outside the controller in the algorithm that calls the PID controller for the output of the PID at the current timestep.

Installation:

$ pip install robo-pid

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