In this project, lateral movement of a vehicle (a nonholonomic robot) has been controlled. A harmonic path has been considered as the trajectory of the robot in the 2D space. The robot model is a simple bicycle model which is suitable when the velocity is lower than 15 km/h. The controller is a modified PID. To find the best PID gains, a Gradient Descent Optimization Algorithm was utilized.

1.Clone the repository.

2.Change initial conditions in initialize.m file if you want.

3.Run main.m in Matlab.