https://github.com/mizuhoaoki/path_tracking_catalog
25 path-tracking algorithms are (goint to be) implemented with python.
https://github.com/mizuhoaoki/path_tracking_catalog
control control-engineering control-theory controller dynamic-window-approach fuzzy-logic fuzzy-logic-control lqr lqr-controller mppi path-following path-tracking pid pid-control pid-controller pure-pursuit purepursuit python stanley vehicle-dynamics
Last synced: 3 months ago
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25 path-tracking algorithms are (goint to be) implemented with python.
- Host: GitHub
- URL: https://github.com/mizuhoaoki/path_tracking_catalog
- Owner: MizuhoAOKI
- License: mit
- Created: 2023-09-28T11:30:11.000Z (over 2 years ago)
- Default Branch: master
- Last Pushed: 2024-05-18T13:08:17.000Z (over 1 year ago)
- Last Synced: 2024-05-18T14:24:48.432Z (over 1 year ago)
- Topics: control, control-engineering, control-theory, controller, dynamic-window-approach, fuzzy-logic, fuzzy-logic-control, lqr, lqr-controller, mppi, path-following, path-tracking, pid, pid-control, pid-controller, pure-pursuit, purepursuit, python, stanley, vehicle-dynamics
- Language: Jupyter Notebook
- Homepage:
- Size: 39.3 MB
- Stars: 79
- Watchers: 2
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
[](https://opensource.org/licenses/MIT)
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# Path Tracking Catalog
25 path-tracking algorithms are (goint to be) implemented with python.
https://github.com/MizuhoAOKI/path_tracking_catalog/assets/63337525/1b2b39f6-87fc-4f3d-9b18-4ae32f71b5fd
- [Vehicle Models for Simulation](#vehicle-models-for-simulation)
- [x] [Dynamic Bicycle Model](#dynamic-bicycle-model)
- [x] [Kinematic Bicycle Model](#kinematic-bicycle-model)
- [x] [Unicycle Model](#unicycle-model)
- [Control Algorithms](#control-algorithms)
- [x] [Bang-Bang Control](#bang-bang-control)
- [x] [PID Control](#pid-control)
- [x] [Pure Pursuit Control](#pure-pursuit-control)
- [x] [Stanley Control](#stanley-control)
- [x] [Fuzzy Logic Control](#fuzzy-logic-control)
- [ ] Genetic Algorithm
- [x] [Dynamic Window Approach](#dynamic-window-approach)
- [ ] State Lattice Planner
- [x] [State Feedback Control](#state-feedback-control)
- [x] [Linear Quadratic Regulator (infinite horizon)](#linear-quadratic-regulator)
- [ ] Linear Quadratic Regulator (finite horizon)
- [ ] Differential Dynamic Programming (infinite horizon)
- [ ] Differential Dynamic Programming (finite horizon)
- [ ] Iterative LQR (infinite horizon)
- [ ] Iterative LQR (finite horizon)
- [ ] Linear Model Predictive Control (formulated as Quadratic Programming)
- [ ] Nonlinear Model Predictive Control (solved by C/GMRES method)
- [x] [Model Predictive Path-Integral Control](#model-predictive-path-integral-control)
- [ ] Sliding Mode Control
- [ ] Q-Learning
- [ ] Multi Layer Perceptron
- [ ] Linear Quadratic Gaussian
- [ ] H∞ Control (LMI)
- [ ] Lyapunov
- [ ] Adaptive Control
## Setup
```sh
git clone https://github.com/MizuhoAOKI/path_tracking_catalog.git
cd path_tracking_catalog
poetry install
```
## Vehicle Models for Simulation
### Definition of Coordinate Systems
### Dynamic Bicycle Model
```math
\begin{align}
&\frac{\mathrm{d}}{\mathrm{d}t}
\begin{bmatrix}
p^G_x \\
p^G_y \\
\phi \\
v^B_x \\
v^B_y \\
\omega \\
\end{bmatrix}
=
\begin{bmatrix}
v^B_x \cos\phi - v^B_y \sin\phi \\
v^B_x \sin\phi + v^B_y \cos\phi \\
\omega \\
{a}\cos\beta - (F_{f}^{\rm{lat}}\sin {{\delta}})/m + v^B_y \omega \\
{a}\sin\beta + F_{r}^{\rm{lat}}/m + F_{f}^{\rm{lat}} \cos{\delta}/m - v^B_x \omega \\
(F_{f}^{\rm{lat}}l_f\cos{\delta} - F_{r}^{\rm{lat}}l_r)/I_z\
\end{bmatrix}, \\ \\
& F_{f}^{\rm{lat}} = - C_f \left( \frac{v^B_y + l_f \omega}{v^B_x} - {\delta} \right), \\ \\
& F_{r}^{\rm{lat}} = - C_r \left( \frac{v^B_y - l_r \omega}{v^B_x} \right), \\ \\
& \beta = \tan^{-1} \left( \frac{v^B_y}{v^B_x} \right) \approx \frac{v^B_y}{v^B_x} \ \ \ (\because v^B_y \ll v^B_x ).
\end{align}
```
https://github.com/MizuhoAOKI/path_tracking/assets/63337525/d51c3821-9b35-4e91-8235-e63b18f33f03
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/dynamic_bicycle_model.ipynb
```
### Kinematic Bicycle Model
```math
\begin{align}
& \frac{\mathrm{d}}{\mathrm{d}t}
\begin{bmatrix}
p^G_x \\
p^G_y \\
\phi \\
V
\end{bmatrix}
=
\begin{bmatrix}
V \cos(\phi + \beta) \\
V \sin(\phi + \beta) \\
(V/l_r) \sin\beta \\
{a}
\end{bmatrix},\\ \\
& \beta = \tan^{-1} \left( \frac{l_r}{l_f + l_r} \tan({\delta}) \right).
\end{align}
```
https://github.com/MizuhoAOKI/path_tracking/assets/63337525/b85fe31c-3e4a-47a9-bc54-694cde225bd5
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/kinematic_bicycle_model.ipynb
```
### Unicycle Model
```math
\begin{align}
\frac{\mathrm{d}}{\mathrm{d}t}
\begin{bmatrix}
p^G_x \\
p^G_y \\
\phi \\
V
\end{bmatrix}
=
\begin{bmatrix}
V \cos\phi \\
V \sin\phi \\
( V / l ) \tan{\delta} \\
{a}
\end{bmatrix}.
\end{align}
```
https://github.com/MizuhoAOKI/path_tracking/assets/63337525/8cba0010-6a21-4830-8974-b4b57c166bcf
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/unicycle_model.ipynb
```
## Control Algorithms
### Bang-Bang Control
https://github.com/MizuhoAOKI/path_tracking/assets/63337525/cc88214e-3914-4126-ac57-3f63d8397094
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/bangbang.ipynb
```
### PID Control
https://github.com/MizuhoAOKI/path_tracking/assets/63337525/83e813d9-b611-49da-abe2-45333bfb80d2
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/pid.ipynb
```
### Pure-Pursuit Control
https://github.com/MizuhoAOKI/path_tracking/assets/63337525/a23f8437-d695-4848-83fb-a8424f311683
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/purepursuit.ipynb
```
### Stanley Control
https://github.com/MizuhoAOKI/path_tracking/assets/63337525/43f3ce4f-8181-45ad-bc08-ac96f3a91e2b
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/stanley.ipynb
```
### Fuzzy Logic Control
https://github.com/MizuhoAOKI/path_tracking_catalog/assets/63337525/d8f9f256-4b2c-4b9e-8b57-e33f05e59e6f
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/fuzzy.ipynb
```
### Dynamic Window Approach
#### Simple Path Tracking
https://github.com/MizuhoAOKI/path_tracking_catalog/assets/63337525/23078e50-46a5-48eb-b89b-4a2111b320f0
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/dwa_pathtracking.ipynb
```
#### Path Tracking with Obstacle Avoidance
https://github.com/MizuhoAOKI/path_tracking_catalog/assets/63337525/7b2a80b7-8d3e-4d37-89f4-23337efcb937
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/dwa_obstacle_avoidance.ipynb
```
### State Lattice Planner
### State Feedback Control
https://github.com/MizuhoAOKI/path_tracking/assets/63337525/8e48380b-f840-49cc-91e0-07dad356b5be
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/state_feedback.ipynb
```
### Linear Quadratic Regulator
https://github.com/MizuhoAOKI/path_tracking/assets/63337525/13d6abbc-2904-422d-acba-17ede074a181
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/lqr.ipynb
```
### Model Predictive Control
### Model Predictive Path-Integral Control
#### Simple Path Tracking
https://github.com/MizuhoAOKI/path_tracking_catalog/assets/63337525/acfefe3a-a22a-4cbc-a5c8-a83086943684
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/mppi_pathtracking.ipynb
```
#### Path Tracking with Obstacle Avoidance
https://github.com/MizuhoAOKI/path_tracking_catalog/assets/63337525/fe84eaf6-8795-490d-9ef1-efecc427052e
```sh
cd path_tracking_catalog
poetry run jupyter notebook notebooks/mppi_obstacle_avoidance.ipynb
```
### Sliding Mode Control
### Q-Learning