PID Control

• PID is a well known technique for smoothing out control, to avoid oscillation. PID stands for
• Applying PID control to your algorithm will make it more robust and perform more consistently. When used with a wall follower it will help better follow the wall without too much fluctuation.
• It will make the robot turn at a higher speed when you are too away from the designated route (too far or too close to the wall), and turn at a slower speed when you are close to it.

Example Code

Graph

Nice video

Some nice links

• PID Algorithm Video
• MIT Pid Video
• ROS PID Package
• Learn PID
• The PID Tuning Guide
• PID without a PhD