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.
About the models: These models show a workflow to implement a Pure Pursuit controller to track a planned path. Steps below describe the workflow:
- Generating waypoints
- Formulating required steering angle for lateral control
- Implementing a longitudinal controller to track the path at higher velocity
- Visualizing vehicle final path in Bird's-Eye Scope and a 3D simulation environment.
Contains a model to implement a Pure Pursuit controller for a vehicle moving at low velocity
Contains a model to implement a Pure Pursuit along with a PI longitudinal controller for a vehicle moving at high velocity
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:
- Graphics card (GPU) — Virtual Reality-ready with 8 GB of onboard RAM
- Processor (CPU) — 2.60 GHz
- 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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