Investigate improved path following algorithms

team581 / offseason-2023-charged-up

Team 581's main robot code for the 2023 offseason

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Investigate improved path following algorithms #7

Closed jonahsnider closed 1 year ago

jonahsnider commented 1 year ago

We currently use PathplannerLib's path following algorithm, which uses a timer to follow a path. This responds very poorly to any disturbances or collisions, so we want to replace it with something more resilient.

Some options that could work are:

RAMSETE
LTV unicycle controller
A modified version of a pure pursuit controller

The pure pursuit idea is probably the best option here, but we should research to confirm.

jonahsnider commented 1 year ago

Closed in favor of PathPlanner's 2024 version, which natively supports pure pursuit