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].

Contents

• Pure pursuit tracking
  • References:
• Stanley control
  • References:
• Rear wheel feedback control
  • References:
• Linear–quadratic regulator (LQR) steering control
  • Overview
  • Vehicle motion Model
  • Control Model
  • LQR controller
  • References:
• Linear–quadratic regulator (LQR) speed and steering control
  • Overview
  • Vehicle motion Model
  • Control Model
  • LQR controller
  • Simulation results
  • References:
• Model predictive speed and steering control
  • MPC modeling
  • Vehicle model linearization
  • Reference
• Nonlinear Model Predictive Control with C-GMRES
  • Mathematical Formulation
  • Ref
• Move to a Pose Control
  • Position Control of non-Holonomic Systems
  • PathFinderController class
  • How does the Algorithm Work
  • Move to a Pose Robot (Class)
  • References