ros电机控制pid控制
http://wiki.ros.org/pid(不太好用,)
https://codeload.github.com/AmrMohamed96/motion_control/zip/refs/heads/master
ros规划控制
https://github.com/ai-winter/ros_motion_planning
ros转圈的pid控制:
https://www.youtube.com/watch?v=okqIgZJy67E
https://github.com/kadupitiya/ROS-TurtleBot-PID
简单实现:[PID的Python实现]推荐容易理解()
import matplotlib.pyplot as plt
class PID():
def __init__(self, dt, max, min, Kp, Kd, Ki):
self.dt = dt # 循环时长
self.max = max