Navigation for Indoor Robot: Straight Line Movement via Navigator

Algorithm 1

The implementation of PID algorithm.

1 Do

2 ifn=1 or 2

3  calculate the offsets of right and left wheel ,

4  calculate the current PWM value of right and left wheel ,

5  substitute n=1 or 2 into equation(6), obtain , , ,

6 if n=3

7  substitute , , , into equation(6)

8 While (if work signal = true)

9 return,, ,,