.. _`Path Tracking`:

Path Tracking
=============

Path tracking is the ability of a robot to follow the reference path generated by a path planner while simultaneously stabilizing the robot. The path tracking controller may need to account for modeling error and other forms of uncertainty. In path tracking, feedback control techniques and optimization based control techniques are widely used[22]. Fig.6 shows simulations using rear wheel feedback steering control and PID speed control, and iterative linear model predictive path tracking control[27].

.. toctree::
   :maxdepth: 2
   :caption: Contents

   pure_pursuit_tracking/pure_pursuit_tracking
   stanley_control/stanley_control
   rear_wheel_feedback_control/rear_wheel_feedback_control
   lqr_steering_control/lqr_steering_control
   lqr_speed_and_steering_control/lqr_speed_and_steering_control
   model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control
   cgmres_nmpc/cgmres_nmpc
   move_to_a_pose/move_to_a_pose