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TUMFTM / mod_vehicle_dynamics_control

TUM Roborace Team Software Stack - Path tracking control, velocity control, curvature control and state estimation.
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Is there a paper on the control architecture? #1

Open vivanraaj opened 5 years ago

vivanraaj commented 5 years ago

Thanks for open sourcing the software architecture of the vehicle. I have a deeper interest in the control side so was curious on how it was implemented especially for high speed turning. The simulink model does give a good overview of the architecture but I was wondering if there is more detailed architecture. Perhaps there is a paper on the hardware and software side of the controls? Thx.

awischnewski commented 5 years ago

You can find more information on the controller concept in this paper:

https://www.tandfonline.com/doi/full/10.1080/00423114.2019.1631455

While there are some minor changes with the latest release, the general structure and concept are still applicable and valid.

vivanraaj commented 5 years ago

appreciate it. thanks