PID Control operator

pid control operator computes the command that needs to be executed to follow the given waypoints. It reacts to the car current speed and position in a way that accelerates or brake according to previous inputs.

Inputs

• waypoints coordinates to follow.

Outputs

• throttle, steering (rad) and braking.

Graph Description

  - id: pid_control_op
    operator:
      python: ../../operators/pid_control_op.py
      outputs:
        - control
      inputs:
        position: oasis_agent/position
        speed: oasis_agent/speed
        waypoints: fot_op/waypoints

Graph Viz

        flowchart TB
  oasis_agent
subgraph fot_op
  fot_op/op[op]
end
subgraph pid_control_op
  pid_control_op/op[op]
end
  oasis_agent -- position --> pid_control_op/op
  oasis_agent -- speed --> pid_control_op/op
  fot_op/op -- waypoints --> pid_control_op/op
  pid_control_op/op -- control --> oasis_agent

Hyperparameters consider changing

See: https://en.wikipedia.org/wiki/PID_controller

pid_p = 0.1
pid_d = 0.0
pid_i = 0.05
dt = 1.0 / 20   

Example reaction: