SCUTTLE Robot – open loop vs closed loop speed control

SCUTTLE Project: A demonstration of two modes of driving: with wheelspeed feedback and without feedback. We use the gamepad controller to manually drive the robot. The controller is a closed-loop PID controller (one controller acting on each wheel) and the targets are generated by considering the joystick axes to indicate x-dot (forward-backward) and theta-dot (left, right). The kinematics are fully explained in the “Kinematics Guide” on the SCUTTLE Project webpage.