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Atsushi Sakai
2017-12-24 12:31:31 -08:00
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@@ -263,6 +263,20 @@ Path tracking simulation with pure pursuit steering control and PID speed contro
![2](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/pure_pursuit/animation.gif)
## Stanley control
Path tracking simulation with Stanley steering control and PID speed control.
![2](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/stanley_controller/animation.gif)
Ref:
- [Stanley: The robot that won the DARPA grand challenge](http://robots.stanford.edu/papers/thrun.stanley05.pdf)
- [Automatic Steering Methods for Autonomous Automobile Path Tracking](https://www.ri.cmu.edu/pub_files/2009/2/Automatic_Steering_Methods_for_Autonomous_Automobile_Path_Tracking.pdf)
## Rear wheel feedback control
Path tracking simulation with rear wheel feedback steering control and PID speed control.