execute trajectories

[Armandpl]

• stanley controller?
• gain scheduling?
• calibrate cam?
• calibration rig? relative to car axles? then we'll know relative to center of mass

[Armandpl]

alright there are multiples ways to go:

• geometric controllers (stanley/purepursuit): stanley looks like it could work with a bit more tuning
  • but it's not robust in any way
• Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing
  • no idea if this works but its well sold and there is code
  • they claim it's between mpc and geometric methods, good performances but inexpensive and easy to implement
  • main advantage is they take into account tire slip, idk if we need to in our case?
  • they also do some system id, might look into that
• maybe there exist other controllers like the one above?
• do some system id on our system, retrain rl, have the neural net output steering for each step
  • scale the steering and voila? depends on the accuracy of the model
  • could try it before the system id though
  • should we model ackerman steering?
• bite the bullet an implement a mpc controller