PID Implementation - Artificial Intelligence for Robotics Udacity English Japanese

PID Implementation - Artificial Intelligence for RoboticsYouTube↗ IA↗(long shot)
Education 10.4K views 4 likes 0 dislikes 18 Mar 2012

Udacity 651K subscribers United States YouTube↗

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What's the intuition?

何か気づきましたか？

If you drive a car and your normal steering mode leads you to a trajectory far away from the goal,

通常の操舵モードの運転で目標から離れた軌道へ導かれるなら

then what I submit you do is you notice over a long period of time you can't get closer.

長時間経っても目標には近づけないということに気づいてください

So you start steering more and more the more time goes by to the right to compensate this bias.

このバイアスを補正するため時間の経過とともに右へ操舵し始めます

As a result, when you drive you steer the car this way.

結果として運転する時車をこのように操舵します

To do so, you need a sustained situation of large error.

こう操舵するためには大きな誤差が持続する状態が必要です

That's measured by the integral or the sum of the crosstrack errors over time.

これは経時的な積分またはCTEの総和で計測されます

Let's make a new controller where steering is proportional to the crosstrack errors before.

操舵が過去のクロストラックエラーに比例的な新たなコントローラを作りましょう

It's equally proportional to the differential of the crosstrack error,

これはCTEの微分への比例項と同じです

but now it's also proportional to what's called the integral or the sum

しかし観測した全CTEの積分または総和と呼ばれるものへの

of all the crosstrack errors you ever observed.

比例項でもあります

This term is interesting. If we have a constant crosstrack error of, say, 0.8

この項は興味深いです一定のクロストラックエラー0．8があるとして

and the sum will increase by 0.8 for each time unit, it'll become larger and larger and larger,

総和は各時間単位で0．8ずつ増えひたすら大きくなります

and eventually it'll correct the robot's motion.

最終的にはロボットの動きを補正するでしょう

This is called the PID controller.

これはPID制御と呼ばれます

This is the P or the proportional term, the D or the differential term, and the i for integral.

Pは比例項、Dは微分項、Iは積分項を表します

それがPIDです

Let's implement this, and the integrated crosstrack error is the sum of all crosstrack errors you ever observed.

実装してみましょう積分されたCTEは観測した全CTEの総和です

Let's implement this in our code.

これをコードで実装します

I give you an integral factor of 0.004.

積分の係数を0．004とします

Let's not worry why I picked those. They're actually wisely chosen, as you will see in a minute.

なぜこの値にしたか気にしないでくださいすぐに分かりますが賢明な選択です

But let's run our code and now modify our code to also allow for this parameter over here.

コードを実行しましょうこのパラメータも使えるようにコードを変更してください

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