Chapter 4: Following a Course

Note

This chapter is being written. Some sections already exist, the others are planned.

Path tracking algorithms in Python: generate a smooth course with cubic splines, and steer the vehicle along it with the Pure Pursuit, Stanley and rear wheel feedback controllers, which use the model of Chapter 3 as geometry.

Sections

• 4.1 Course generation with cubic splines: cubic_spline

• 4.2 Pure Pursuit: pure_pursuit_path_tracking, adaptive_pure_pursuit_path_tracking

• 4.3 Stanley: stanley_path_tracking

• 4.4 Rear wheel feedback: rear_wheel_feedback_tracking

The system so far

The vehicle follows a course with a geometric controller, using its true state.

Shown today by pure_pursuit_path_tracking.

Before this chapter

Chapter 3.