PID

python_motion_planning.local_planner.pid.PID

Bases: LocalPlanner

Class for PID motion planning.

Parameters:

Name	Type	Description	Default
start	tuple	start point coordinate	required
goal	tuple	goal point coordinate	required
env	Env	environment	required
heuristic_type	str	heuristic function type	'euclidean'
**params		other parameters can be found in the parent class LocalPlanner	{}

Examples:

Python Console Session

>>> from python_motion_planning.utils import Grid
>>> from python_motion_planning.local_planner import PID
>>> start = (5, 5, 0)
>>> goal = (45, 25, 0)
>>> env = Grid(51, 31)
>>> planner = PID(start, goal, env)
>>> planner.run()

angularRegularization(w_d)

Angular velocity controller with pid.

Parameters:

Name	Type	Description	Default
w_d	float	reference angular input	required

Returns:

Name	Type	Description
w	float	control angular velocity output

linearRegularization(v_d)

Linear velocity controller with pid.

Parameters:

Name	Type	Description	Default
v_d	float	reference velocity input	required

Returns:

Name	Type	Description
v	float	control velocity output

plan()

PID motion plan function.

Returns:

Name	Type	Description
flag	bool	planning successful if true else failed
pose_list	list	history poses of robot

run()

Running both plannig and animation.