matlab如何实现PID控制小车前进到指定位置

分为三步：

根据目标位置确定小车前进方向

计算目标方向与当前方向的差异

选取适当PID参数驱动左右轮运转

首先打开这个文件

在

实现PID控制小车前进到指定位置

%% START CODE BLOCK %%

            % 1. Calculate the heading (angle) to the goal.

            % distance between goal and robot in x-direction

            u_x = x_g-x;

            % distance between goal and robot in y-direction

            u_y = y_g-y;

            % angle from robot to goal. Hint: use ATAN2, u_x, u_y here.

            theta_g = atan2(u_y,u_x);

            % 2. Calculate the heading error.

            % error between the goal angle and robot's angle

            % Hint: Use ATAN2 to make sure this stays in [-pi,pi].

            e_k = atan2(sin(theta_g-theta),cos(theta_g-theta));  

            % 3. Calculate PID for the steering angle 

            % error for the proportional term

            e_P = e_k;

            % error for the integral term. Hint: Approximate the integral using

            % the accumulated error, obj.E_k, and the error for

            % this time step, e_k.

            e_I = obj.E_k + e_k*dt;

            % error for the derivative term. Hint: Approximate the derivative

            % using the previous error, obj.e_k_1, and the

            % error for this time step, e_k.

            e_D = (e_k-obj.e_k_1)/dt;   

            %% END CODE BLOCK %%

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