Harry – for the demo you did and led to the mp4 movie that you shared, if you have the code handy, can you please drop here or provide a link?
Thank you, Harry! Dan --------------------------------------------- Bernard A. and Frances M. Weideman Professor NVIDIA CUDA Fellow Department of Mechanical Engineering Department of Computer Science University of Wisconsin - Madison 4150ME, 1513 University Avenue Madison, WI 53706-1572 608 772 0914 http://sbel.wisc.edu/ http://projectchrono.org/ --------------------------------------------- From: 'Harry ZHANG' via ProjectChrono <[email protected]> Sent: Sunday, August 24, 2025 8:53 PM To: ProjectChrono <[email protected]> Subject: [chrono] Re: Steering Controller Question Hi Chris, I did similar demo before, controlling M113 tracked vehicle to follow sine shape path with PID method, the video link is (https://uwmadison.box.com/s/j93bhbnkwbdh996bi9k7stk1gisas1g2). Is this demo what you want to do (to some extend))? In this demo, I implemented a basic PD controller in the simulation loop given the information of predefined sine-shape trajectory and vehicle's current state while I am not sure about the reason why it's not working well with PathFollowerDriver (might because of the tracked vehicle's skid steering mechanism is different from the ones one wheeled vehicle), I would recommend trying to implement a basic PID controller, which you could easily adjust PID gains given over/under damped scenarios. From experience (demo I shared above), it would work fine with a customized PID controller. Best, Harry On Wednesday, August 13, 2025 at 8:31:11 AM UTC-5 [email protected]<mailto:[email protected]> wrote: Hi all, I have been testing some of Project Chrono's features with their vehicle module and I was curious if anyone can explain this abnormality. I created a file that creates a PathFollowerDriver component on the M113 tracked vehicle to test how the PID controller works. I started with a straight line path first and was able to get some pretty solid results with the chosen gains. When I transitioned the same gains to a more complicated path (the Double Lane Change Path) the previous gains that I had were too harsh and veered the M113 off of the desired path. Comparing that to the wheeled vehicle, no matter the maneuver chosen, the same gains can be used and the wheeled vehicle would be able to follow the path from beginning to end with little difficulty. My first thought as to why this may be happening is because of the time step difference in simulations (2e-3 in the wheeled vs. 5e-4 in the tracked), but I was wondering if anyone else may have some thoughts behind what may be going on. Thank you, Chris -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]<mailto:[email protected]>. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/7600dd11-a7b8-4e50-9120-9b86e46829c8n%40googlegroups.com<https://urldefense.com/v3/__https:/groups.google.com/d/msgid/projectchrono/7600dd11-a7b8-4e50-9120-9b86e46829c8n*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!N_BxchgLpq_SX3TlH1fTVPo4mfzlwfGls6h_SCRB9YNndnH_1UA3Tmjk4MyWf0DfBqdXO7qlDoRFGMzuc8vowA30-Vw$>. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/DM8PR06MB7703B3475304E754C20F43E6B13EA%40DM8PR06MB7703.namprd06.prod.outlook.com.
