https://github.com/mathworks/vehicle-pure-pursuit
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
https://github.com/mathworks/vehicle-pure-pursuit
Last synced: 18 days ago
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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
- Host: GitHub
- URL: https://github.com/mathworks/vehicle-pure-pursuit
- Owner: mathworks
- License: other
- Created: 2020-07-06T06:46:41.000Z (almost 5 years ago)
- Default Branch: master
- Last Pushed: 2020-10-13T03:48:42.000Z (over 4 years ago)
- Last Synced: 2025-05-06T01:38:58.402Z (about 2 months ago)
- Language: MATLAB
- Size: 516 KB
- Stars: 31
- Watchers: 4
- Forks: 15
- Open Issues: 0
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Metadata Files:
- Readme: README.md
- License: license.txt
- Security: SECURITY.md
Awesome Lists containing this project
README
Vehicle Path Tracking using Pure Pursuit Controller
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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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.
# Models
## 1_Curved_Low_Velocity
### purePursuitCurveLowVel
Contains a model to implement a Pure Pursuit controller for a vehicle moving at low velocity
## 2_Curved_High_Velocity
### purePursuitCurveHighVel
Contains a model to implement a Pure Pursuit along with a PI longitudinal controller for a vehicle moving at high velocity
## 3_USCity
### purePursuitUSCity
It contains a model to drive the vehicle through the US City scene.
PRODUCT REQUIREMENTS:
The models use the following MathWorks products, all from R2020a release:
1)MATLAB
2)Simulink
3)Vehicle Dynamics Blockset
4)Automated Driving Toolbox
5)Navigation Toolbox
6)Aerospace Blockset
7)Aerospace Toolbox
Note: The Aerospace Blockset and Aerospace Toolbox are only required for the "purePursuitUSCity" model to convert from rad/s to degree/s.
In case of the absence of these two toolboxes, define the conversion factor from rad/s to degree/s using a gain block and use the model.
Minimum Hardware Requirements for Running Models in 3D Simulation Environment:
1. Graphics card (GPU) — Virtual Reality-ready with 8 GB of onboard RAM
2. Processor (CPU) — 2.60 GHz
3. Memory (RAM) — 12 GB
For more information please visit this web page: https://www.mathworks.com/help/driving/ug/3d-visualization-engine-requirements.html
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Copyright 2020 The MathWorks, Inc.