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Atsushi Sakai
2018-02-21 10:11:09 -08:00
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Python codes for robotics algorithm.
# Table of Contents
* [Requirements](#requirements)
* [How to use](#how-to-use)
@@ -469,25 +468,38 @@ Ref:
- [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.
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/rear_wheel_feedback/animation.gif)
Ref:
- [A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles](https://arxiv.org/abs/1604.07446)
## Linear–quadratic regulator (LQR) steering control
Path tracking simulation with LQR steering control and PID speed control.
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/lqr_steer_control/animation.gif)
Ref:
- [ApolloAuto/apollo: An open autonomous driving platform](https://github.com/ApolloAuto/apollo)
## Linear–quadratic regulator (LQR) speed and steering control
Path tracking simulation with LQR speed and steering control.
![3](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/lqr_speed_steer_control/animation.gif)
Ref:
- [Towards fully autonomous driving: Systems and algorithms \- IEEE Conference Publication](http://ieeexplore.ieee.org/document/5940562/)
## Model predictive speed and steering control
@@ -499,6 +511,12 @@ This code uses cvxpy as an optimization modeling tool.
- [Welcome to CVXPY 1\.0 — CVXPY 1\.0\.0 documentation](https://cvxgrp.github.io/cvxpy/index.html)
Ref:
- [Vehicle Dynamics and Control \| Rajesh Rajamani \| Springer](http://www.springer.com/us/book/9781461414322)
- [MPC Course Material \- MPC Lab @ UC\-Berkeley](http://www.mpc.berkeley.edu/mpc-course-material)
# License