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* refactor: rename files and update references for inverted pendulum and path tracking modules * refactor: rename inverted pendulum control files and update type check references * refactor: update import statements to use consistent casing for InvertedPendulum module
20 lines
1.0 KiB
ReStructuredText
20 lines
1.0 KiB
ReStructuredText
.. _`Path Tracking`:
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Path Tracking
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=============
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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].
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.. toctree::
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:maxdepth: 2
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:caption: Contents
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pure_pursuit_tracking/pure_pursuit_tracking
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stanley_control/stanley_control
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rear_wheel_feedback_control/rear_wheel_feedback_control
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lqr_steering_control/lqr_steering_control
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lqr_speed_and_steering_control/lqr_speed_and_steering_control
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model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control
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cgmres_nmpc/cgmres_nmpc
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move_to_a_pose_control/move_to_a_pose_control
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