How to use Lateral Controller (Stanley,Pure Pursuit etc.) with GPS Coordinates?

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Ihsan
Ihsan 2023-4-6
回答： Sarthak 2023-4-21
Hi everyone,
i am struggling with following issue for a long time. So please help me.
I want to use Lateral Controller in Simulink but i don`t have X Y Theta Coordinates as Input rather GPS coordinates (Latitude, Longitude). Can someone help me, how i can use this controller with this format?
Thanks a lot.

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回答（1 个）

Sarthak
Sarthak 2023-4-21
Hi Ihsan,
As per my understanding, lateral controllers typically operate in Cartesian Coordinates. You can convert your geographic coordinates to cartesian coordinates using
X = R * cos(latitude) * cos(longitude)
Y = R * cos(latitude) * sin(longitude)
You can also consider using the latlon2local function to achieve the same. Attaching a documentation link for your reference.
https://www.mathworks.com/help/driving/ref/latlon2local.html

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