# Path Tracking — PythonRobotics documentation

# Path Tracking

Contents

- Pure pursuit tracking
  - References:
- Stanley control
  - References:
- Rear wheel feedback control
  - References:
- Linear–quadratic regulator (LQR) steering control
  - References:
- Linear–quadratic regulator (LQR) speed and steering control
  - References:
- Model predictive speed and steering control
  - MPC modeling
  - Vehicle model linearization
  - Reference
- Nonlinear Model Predictive Control with C-GMRES
  - Mathematical Formulation
  - Ref