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108 lines
3.1 KiB
ReStructuredText
108 lines
3.1 KiB
ReStructuredText
.. _path_tracking:
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Path tracking
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=============
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move to a pose control
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----------------------
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This is a simulation of moving to a pose control
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Ref:
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- `P. I. Corke, "Robotics, Vision and Control" \| SpringerLink
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p102 <https://link.springer.com/book/10.1007/978-3-642-20144-8>`__
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Pure pursuit tracking
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---------------------
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Path tracking simulation with pure pursuit steering control and PID
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speed control.
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The red line is a target course, the green cross means the target point
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for pure pursuit control, the blue line is the tracking.
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Ref:
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- `A Survey of Motion Planning and Control Techniques for Self-driving
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Urban Vehicles <https://arxiv.org/abs/1604.07446>`__
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Stanley control
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---------------
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Path tracking simulation with Stanley steering control and PID speed
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control.
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Ref:
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- `Stanley: The robot that won the DARPA grand
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challenge <http://robots.stanford.edu/papers/thrun.stanley05.pdf>`__
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- `Automatic Steering Methods for Autonomous Automobile Path
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Tracking <https://www.ri.cmu.edu/pub_files/2009/2/Automatic_Steering_Methods_for_Autonomous_Automobile_Path_Tracking.pdf>`__
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Rear wheel feedback control
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---------------------------
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Path tracking simulation with rear wheel feedback steering control and
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PID speed control.
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Ref:
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- `A Survey of Motion Planning and Control Techniques for Self-driving
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Urban Vehicles <https://arxiv.org/abs/1604.07446>`__
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.. _linearquadratic-regulator-(lqr)-steering-control:
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Linear–quadratic regulator (LQR) steering control
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-------------------------------------------------
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Path tracking simulation with LQR steering control and PID speed
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control.
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Ref:
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- `ApolloAuto/apollo: An open autonomous driving
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platform <https://github.com/ApolloAuto/apollo>`__
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.. _linearquadratic-regulator-(lqr)-speed-and-steering-control:
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Linear–quadratic regulator (LQR) speed and steering control
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-----------------------------------------------------------
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Path tracking simulation with LQR speed and steering control.
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Ref:
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- `Towards fully autonomous driving: Systems and algorithms - IEEE
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Conference
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Publication <http://ieeexplore.ieee.org/document/5940562/>`__
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.. include:: Model_predictive_speed_and_steering_control.rst
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Ref:
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- `notebook <https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.ipynb>`__
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.. include:: cgmres_nmpc.rst
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.. |2| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/move_to_pose/animation.gif
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.. |3| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/pure_pursuit/animation.gif
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.. |4| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/stanley_controller/animation.gif
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.. |5| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/rear_wheel_feedback/animation.gif
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.. |6| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/lqr_steer_control/animation.gif
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.. |7| image:: https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/lqr_speed_steer_control/animation.gif
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