Mobile Robot Control - Python and Pygame Simulation and Animation (tutorial links provided below)

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This video demonstrates the performance of a simple position controller for differential drive mobile robots. The goal of the control algorithm is to move the robot from the starting point shown over here, to the target point shown over here. This is achieved by two controllers. The first controller controls the orientation of the robot or the direction of the velocity vector, and the second controller controls the velocity intensity.

This animation is generated by simulating the control algorithms and robot motion in Python. The simulation is obtained by integrating the kinematics equations of the robot motion. The simulation is visualized by using Pygame. Links to the control algorithm and simulation tutorials are given in the description bellow this video.

To illustrate the control behavior, we consider three cases.

In the first case, that you are currently watching, both orientation and velocity control gains are low. We can see that the trajectory from the start point to the target point is not strait. The robot does not follow the shortest path.

In the second case, that you are currently watching, the orientation control gain is high and the velocity control gain is low. We can see that the robot follows a more or less straight trajectory to the target. Initially, the orientation controller adjusts the orientation by simply rotating the robot in the proper direction. Then, it follows the straight path. We can see the initial robot behavior by restarting the simulation.

In the third case, that you are currently watching, both the orientation control gain and the velocity control gains are high. We can observe that the robot slightly deviates from the shortest path, however, the response is faster.

If you want to learn how to implement this basic controller and how to simulate and animate system behavior in Python, you can study the tutorials whose links are given in the description below. Also, there is a link to Python code files.