path-following-Matlab
Description
This repo contains matlab codes that implement the path following methods studied in the paper entitled:
A review of path following control strategies for autonomous robotic vehicles: theory, simulations, and experiments Link: https://nt-hung.github.io/publications
Prerequisite
- Matlab2016a or newer
- Casadi - a tool to formulate optimal control problems [only need for MPC methods (Method 5 and 7)]
Installation
- Chose a folder that you want to locate your project, then
- clone/download the project
- run PFtools.m and see the results.
If you want to test different type of the path or controller, just change parameters in variables "path_type" and "controller" in PFtools.m
Citation
Hung N., Rego F., Quintas J., Cruz J., Jacinto M., Souto D. et al. (2022) A review of path following control strategies for autonomous robotic vehicles: Theory, simulations, and experiments. Journal of Field Robotics, 1–33. https://doi.org/10.1002/rob.22142