{"id":416,"date":"2020-05-07T20:58:58","date_gmt":"2020-05-07T20:58:58","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/?p=416"},"modified":"2020-12-19T03:19:43","modified_gmt":"2020-12-19T03:19:43","slug":"controller","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/2020\/05\/07\/controller\/","title":{"rendered":"Controller"},"content":{"rendered":"
\"\"

<\/span> Controller Schematic<\/span><\/p><\/div>\n

We are using PID controllers to control the movement of the ego-vehicle. We use two PID controllers in our system:<\/span><\/p>\n

    \n
  1. Lateral PID Controller: This is used to control the desired steering angle of the ego-vehicle.<\/span><\/li>\n
  2. Longitudinal PID Controller: This is used to control the speed of the ego-vehicle<\/span><\/li>\n<\/ol>\n

    The controller takes in the current position, orientation and speed of the ego-vehicle as information from the simulation subsystem, and the desired position, orientation and speed from the path-planning subsystem.<\/span><\/p>\n

    \n
    \n
    \n
    \n
    \n
    The latitudinal controller has Kp = 1, Kd = 0.01 and Ki = 0.01. The longitudinal controller has Kp = 0.5, Kd = 0.05, Ki = 0<\/span><\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"

    We are using PID controllers to control the movement of the ego-vehicle. We use two PID controllers in our system: Lateral PID Controller: This is used to control the desired steering angle of the ego-vehicle. Longitudinal PID Controller: This is used to control the speed of the ego-vehicle The controller takes in the current position,
    + Read More<\/a><\/p>\n","protected":false},"author":196,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[],"class_list":["post-416","post","type-post","status-publish","format-standard","hentry","category-implementation"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts\/416","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/users\/196"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/comments?post=416"}],"version-history":[{"count":4,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts\/416\/revisions"}],"predecessor-version":[{"id":671,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts\/416\/revisions\/671"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/media?parent=416"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/categories?post=416"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/tags?post=416"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}