/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

Primary LanguageMATLABOtherNOASSERTION

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:

  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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