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docs/modules/path_tracking.rst

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+.. _path_tracking:
+
+Path tracking
+=============
+
+move to a pose control
+----------------------
+
+This is a simulation of moving to a pose control
+
+|2|
+
+Ref:
+
+-  `P. I. Corke, "Robotics, Vision and Control" \| SpringerLink
+   p102 <https://link.springer.com/book/10.1007/978-3-642-20144-8>`__
+
+Pure pursuit tracking
+---------------------
+
+Path tracking simulation with pure pursuit steering control and PID
+speed control.
+
+|3|
+
+The red line is a target course, the green cross means the target point
+for pure pursuit control, the blue line is the tracking.
+
+Ref:
+
+-  `A Survey of Motion Planning and Control Techniques for Self-driving
+   Urban Vehicles <https://arxiv.org/abs/1604.07446>`__
+
+Stanley control
+---------------
+
+Path tracking simulation with Stanley steering control and PID speed
+control.
+
+|4|
+
+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.
+
+|5|
+
+Ref:
+
+-  `A Survey of Motion Planning and Control Techniques for Self-driving
+   Urban Vehicles <https://arxiv.org/abs/1604.07446>`__
+
+.. _linearquadratic-regulator-(lqr)-steering-control:
+
+Linear–quadratic regulator (LQR) steering control
+-------------------------------------------------
+
+Path tracking simulation with LQR steering control and PID speed
+control.
+
+|6|
+
+Ref:
+
+-  `ApolloAuto/apollo: An open autonomous driving
+   platform <https://github.com/ApolloAuto/apollo>`__
+
+.. _linearquadratic-regulator-(lqr)-speed-and-steering-control:
+
+Linear–quadratic regulator (LQR) speed and steering control
+-----------------------------------------------------------
+
+Path tracking simulation with LQR speed and steering control.
+
+|7|
+
+Ref:
+
+-  `Towards fully autonomous driving: Systems and algorithms - IEEE
+   Conference
+   Publication <http://ieeexplore.ieee.org/document/5940562/>`__
+
+Model predictive speed and steering control
+-------------------------------------------
+
+Path tracking simulation with iterative linear model predictive speed
+and steering control.
+
+.. raw:: html
+
+   <img src="https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/model_predictive_speed_and_steer_control/animation.gif" width="640">
+
+Ref:
+
+-  `notebook <https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/model_predictive_speed_and_steer_control/notebook.ipynb>`__
+
+.. |2| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/move_to_pose/animation.gif
+.. |3| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/pure_pursuit/animation.gif
+.. |4| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/stanley_controller/animation.gif
+.. |5| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/rear_wheel_feedback/animation.gif
+.. |6| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/lqr_steer_control/animation.gif
+.. |7| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/lqr_speed_steer_control/animation.gif