Vehicle Path Tracking Using Pure Pursuit Controller

版本 1.1.1 (756.8 KB) 作者: MathWorks Student Competitions Team
This submission contains a set of models to show the implementation of a pure pursuit controller on a vehicle under different scenarios.
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更新时间 2020/10/13
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This submission contains a set of models to show the implementation of a pure pursuit controller on a vehicle under different scenarios. About the models: These models show a workflow to implement a pure pursuit controller to track a planned path. Steps below describe the workflow:
1. Generating waypoints
2. Formulating required steering angle for lateral control
3. Implementing a longitudinal controller to track the path at higher velocity
4. Visualizing vehicle final path in Bird's-Eye Scope and a 3D simulation environment.

To learn more about the workflow, watch this video: https://www.youtube.com/watch?v=zMdoLO4kRKg

Contact:
Please write to racinglounge@mathworks.com with any questions or suggestions.

For R2020b: Click on "Download from GitHub" button above.
For R2020a: https://github.com/mathworks/vehicle-pure-pursuit/archive/v1.0.1.zip

引用格式

MathWorks Student Competitions Team (2024). Vehicle Path Tracking Using Pure Pursuit Controller (https://github.com/mathworks/vehicle-pure-pursuit/releases/tag/v1.1.1), GitHub. 检索时间: .

MATLAB 版本兼容性
创建方式 R2020a
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Models/1_Curved_Low_Velocity

Models/2_Curved_High_Velocity

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版本 已发布 发行说明
1.1.1

See release notes for this release on GitHub: https://github.com/mathworks/vehicle-pure-pursuit/releases/tag/v1.1.1
1.0.1

See release notes for this release on GitHub: https://github.com/mathworks/vehicle-pure-pursuit/releases/tag/v1.0.1
要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 仓库。
要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 仓库。