Tutorial 3 - Wall Following

• Wall Following Theory
  • I. Learning Goals
  • II. Review of PID in the Time Domain
  • III. Wall Following
  • Summary: Wall Following Algorithm
• Create Wall Following Package
  • 1️⃣ Create the Wall Follow Package
  • 2️⃣ Modify package.xml
  • 3️⃣ Modify CMakeLists.txt (If Using C++)
  • 4️⃣ Install Dependencies Using rosdep
  • 5️⃣ Implement the Wall Follow Node
  • 6️⃣ Make It Executable
  • 7️⃣ C++ Alternative (Optional)
  • Alternative: C++ Wall Follow Node Implementation
• Steering Adjustment Using PID
  • Overview
  • 1️⃣ Why Use PID Control for Steering?
  • 2️⃣ PID Control Formula for Steering Adjustment
  • 3️⃣ How Each Term Contributes
    • Proportional Term (P)
    • Integral Term (I)
    • Derivative Term (D)
  • 4️⃣ Example: PID-Based Steering Control
    • Scenario: Maintaining Distance While Wall Following
  • 5️⃣ Handling Curves and Corners
  • 6️⃣ Considerations & Tuning
  • 7️⃣ Integrating Speed Control
  • 8️⃣ Summary