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ai-winter / ros_motion_planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.
GNU General Public License v3.0
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PID with model #88

Closed Dennis-AIGC closed 4 months ago

Dennis-AIGC commented 5 months ago

https://github.com/ai-winter/ros_motion_planning/blob/d0f8f569df0987e83dad79ab18e64e3f1b60c2a2/src/core/local_planner/pid_planner/src/pid_planner.cpp#L326

Hello there, how can I best understand the main points of this function?

omigeft commented 5 months ago

The returned value of this function is the control vector u that comprises two command values: u[0] represents the new linear velocity, and u[1] denotes the new angular velocity.