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ddanielvaz / rrt-planner

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Add a controller to path tracking #1

Open GoogleCodeExporter opened 9 years ago

GoogleCodeExporter commented 9 years ago 
The control inputs, computed by algorithm, are ideals but in the practice
if these control were applied in the car model, without a closed loop
controller, the final configuration couldn't be achieved. So the purpose of
this issue is implement a tracking path controller which guarantees that
the correct path will executed by the robot.

Original issue reported on code.google.com by daniel...@gmail.com on 14 Aug 2009 at 4:45

GoogleCodeExporter commented 9 years ago 
I read something about to path tracking, several articles from DARPA Challenge, 
and I
found references to Gillespie (Fundamentals of Vehicles Dynamics), Kanayama (A 
Stable
Tracking Control Method for a Non-Holonomic Mobile Robot), Coulter 
(Implementation of
the pure pursuit path tracking algorithm) and others. I must to read more about 
it
and then decide between any of them.

Original comment by daniel...@gmail.com on 17 Aug 2009 at 4:36

GoogleCodeExporter commented 9 years ago 
Adding initial path tracking controller, based on Kabayama at Revision: 
6b8e78c205.

Original comment by daniel...@gmail.com on 20 Aug 2009 at 5:28

GoogleCodeExporter commented 9 years ago 
The coordinate systems were modified at revision 8ded10e19e, now the controller
should work correctly.

Original comment by daniel...@gmail.com on 26 Aug 2009 at 1:35