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34 Commits

Author SHA1 Message Date
Zichao Yang
a8a45033c6 feat: Add reverse mode in pure pursuit (#1194) 
* feat: Add vehicle model rendering function and pause simulation function

* feat: Add support for reverse mode and related function adjustments

* feat: Add reverse mode test case

* feat: Limit the maximum steering angle to improve path tracking control

* feat: Add a newline for improved readability in plot_arrow function

* fix: Replace max/min with np.clip for steering angle limitation in pure pursuit control
 2025-06-07 20:05:32 +09:00
Atsushi Sakai
2e188f866b To fix #298 2020-02-26 22:27:25 +09:00
Guillaume Jacquenot
08428bed15 📝 Added Gjacquenot as author as suggested by @AtsushiSakai 2020-01-04 09:57:47 +01:00
Guillaume Jacquenot
3bdf255534 🔨 Removed unnecessary parenthesis in pure_pursuit.py 2020-01-04 09:57:30 +01:00
Guillaume Jacquenot
bfc8744923 🔨 Refcatored modification in pure_pursuit.py 
Thanks to @AtsushiSakai remark

https://github.com/AtsushiSakai/PythonRobotics/pull/269#discussion_r363005775
 2020-01-04 09:52:31 +01:00
Guillaume Jacquenot
f81140e65b 📝 Renamed method name __call__ with search_target_index in Trajectory class 
Thanks to @AtsushiSakai remarks

https://github.com/AtsushiSakai/PythonRobotics/pull/269#discussion_r363005681
 2020-01-04 09:52:31 +01:00
Guillaume Jacquenot
811bdc1d49 🔨 Refactored pure_pursuit.py 
- Added new method to state class
- Removed global variable old_nearest_point_index
- Created a class States that store the results
 2020-01-04 09:41:21 +01:00
Atsushi Sakai
ad5e1aa070 Merge pull request #259 from goktug97/close_on_key 
Close on key
 2019-12-14 21:33:26 +09:00
Göktuğ Karakaşlı
9ca7d8f148 add comment for stopping the simulation 2019-12-14 14:50:32 +03:00
Guillaume Jacquenot
e500f65d7f Replaced sqrt(x**2+y**2) with hypot in PathTracking/pure_pursuit/pure_pursuit.py 2019-12-07 22:16:12 +01:00
Göktuğ Karakaşlı
d019e416ba exit on key 2019-12-07 14:30:18 +03:00
Atsushi Sakai
a5db2fe793 tuned parameter 2019-05-11 08:21:58 +09:00
Kitsunow
58c2a80e97 Set index to ind 2019-05-09 15:16:07 +02:00
Kitsunow
54c872aa2b Use correct name 2019-05-09 15:03:42 +02:00
Kitsunow
82c55d42c4 Made old index global 2019-05-09 14:49:56 +02:00
Kitsunow
d5d026db0f Set old index 2019-05-09 14:22:15 +02:00
Kitsunow
4706e4be0a Fixed syntax 2019-05-09 14:12:05 +02:00
Kitsunow
1ef134767d Only calculate all distances between car and path points once 2019-05-09 13:52:32 +02:00
Kitsunow
af474687d1 Use rear axle instead of center 2019-05-09 13:39:43 +02:00
Atsushi Sakai
ac066ee604 remove unused code in pure_pursuit control 2019-04-12 22:15:58 +09:00
Atsushi Sakai
1dd9bad012 fix pure_pursuit distance bug 2019-04-10 21:13:14 +09:00
Atsushi Sakai
af854d6d1a add # pragma: no cover 2019-02-03 10:20:23 +09:00
Atsushi Sakai
f0b6b7a94d code clean up for LGTM 2019-02-03 10:00:09 +09:00
Atsushi Sakai
98b9f5e84b remove all gif 2019-01-31 15:59:17 +09:00
tks10
9461aa039f fix: calc_target_index in pure_pursuit module 2019-01-15 00:05:16 +09:00
Atsushi Sakai
17e28032c2 start implement stanley controller 2017-12-23 22:00:07 -08:00
Atsushi Sakai
d703c49dd3 dir clean up 2017-12-23 18:57:44 -08:00
Atsushi Sakai
edaa12a09c update pure_pursuit code 2017-12-23 18:48:41 -08:00
Atsushi Sakai
850904d998 add rrt_course.csv 2017-11-21 08:37:17 -08:00
AtsushiSakai
a5c81da8a8 add figure 2017-06-13 17:51:09 -07:00
AtsushiSakai
ed4436ea2e bug fix 2017-06-13 17:46:31 -07:00
AtsushiSakai
300aa25a12 bug fix pure_pursuit 2017-06-09 22:31:38 -07:00
AtsushiSakai
118bedd6b2 add graphs 2017-06-04 10:15:51 -07:00
AtsushiSakai
322d010a77 first release pure_pursuit simulation code 2017-06-04 10:14:52 -07:00