/roboticsControl

PID controller and Reinforcement Learning approach to control a self-balancing robot (segway)

Primary LanguagePython

roboticsControl

Repository for the class 'Software Technology Course with a Varying Content' and the topic 'Introduction in Artificial Intelligence'.

Some useful links:

PID tunings

A few different tunings found out to work more or less well.

Bullet engine

|a|:

  • 50ms - 13.7 0.199 1286
  • 10ms - 56.25, 2.736, 1389

a2 + v2:

  • 50ms - 13.76 0.1990 1609

a**2 + |x|

  • 50ms - 13.7 0.2197 1194

a2 + x2

  • 50ms - 36.72, 0.5333, 2036 (bad)
  • 10ms - ?

a2 + x2 / t**2

  • 10ms - 26.11, 1.971, 2925

|a| + |x| + |v| / t^2

  • 10ms - 12.73 0.3582 3042

Pitch-delta

  • Doomed to drift...
  • 50ms - 0.5, 0.005, 12.5

Oldies but goldies

  • 50ms: 21.000000 9.009500 16.550000
  • 10ms: 79.0 19.9 41.4

ODE engine

a2 + x2 / t**2

  • 10ms - 324 3.24 4500

|a| + |x| + |v| / t^2

  • 10ms - 80.77 0.5011 330.0