Path Tracking Catalog

25 path-tracking algorithms are (goint to be) implemented with python.

nine_pathtracking_algorithms.mp4

Vehicle Models for Simulation
Control Algorithms
- Bang-Bang Control
- PID Control
- Pure Pursuit Control
- Stanley Control
- Fuzzy Logic Control
- Genetic Algorithm
- Dynamic Window Approach
- State Lattice Planner
- State Feedback Control
- Linear Quadratic Regulator (infinite horizon)
- 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)
- Model Predictive Path-Integral Control
- Sliding Mode Control
- Q-Learning
- Multi Layer Perceptron
- Linear Quadratic Gaussian
- H∞ Control (LMI)
- Lyapunov
- Adaptive Control

Setup

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

$$\begin{align} &\frac{\mathrm{d}}{\mathrm{d}t} \begin{bmatrix} p^G_x \\\ p^G_y \\\ \phi \\\ v^B_x \\\ v^B_y \\\ \omega \\\ \end{bmatrix} = \begin{bmatrix} v^B_x \cos\phi - v^B_y \sin\phi \\\ v^B_x \sin\phi + v^B_y \cos\phi \\\ \omega \\\ {a}\cos\beta - (F_{f}^{\rm{lat}}\sin {{\delta}})/m + v^B_y \omega \\\ {a}\sin\beta + F_{r}^{\rm{lat}}/m + F_{f}^{\rm{lat}} \cos{\delta}/m - v^B_x \omega \\\ (F_{f}^{\rm{lat}}l_f\cos{\delta} - F_{r}^{\rm{lat}}l_r)/I_z\\ \end{bmatrix}, \\ \\\ & F_{f}^{\rm{lat}} = - C_f \left( \frac{v^B_y + l_f \omega}{v^B_x} - {\delta} \right), \\ \\\ & F_{r}^{\rm{lat}} = - C_r \left( \frac{v^B_y - l_r \omega}{v^B_x} \right), \\ \\\ & \beta = \tan^{-1} \left( \frac{v^B_y}{v^B_x} \right) \approx \frac{v^B_y}{v^B_x} \ \ \ (\because v^B_y \ll v^B_x ). \end{align}$$

dbm_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/dynamic_bicycle_model.ipynb

Kinematic Bicycle Model

$$\begin{align} & \frac{\mathrm{d}}{\mathrm{d}t} \begin{bmatrix} p^G_x \\\ p^G_y \\\ \phi \\\ V \end{bmatrix} = \begin{bmatrix} V \cos(\phi + \beta) \\\ V \sin(\phi + \beta) \\\ (V/l_r) \sin\beta \\\ {a} \end{bmatrix},\\ \\\ & \beta = \tan^{-1} \left( \frac{l_r}{l_f + l_r} \tan({\delta}) \right). \end{align}$$

kbm_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/kinematic_bicycle_model.ipynb

Unicycle Model

$$\begin{align} \frac{\mathrm{d}}{\mathrm{d}t} \begin{bmatrix} p^G_x \\\ p^G_y \\\ \phi \\\ V \end{bmatrix} = \begin{bmatrix} V \cos\phi \\\ V \sin\phi \\\ ( V / l ) \tan{\delta} \\\ {a} \end{bmatrix}. \end{align}$$

ucm_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/unicycle_model.ipynb

Control Algorithms

Bang-Bang Control

bangbang_pathtracking_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/bangbang.ipynb

PID Control

pid_pathtracking_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/pid.ipynb

Pure-Pursuit Control

purepursuit_pathtracking_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/purepursuit.ipynb

Stanley Control

stanley_pathtracking_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/stanley.ipynb

Fuzzy Logic Control

fuzzy_pathtracking_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/fuzzy.ipynb

Dynamic Window Approach

Simple Path Tracking

dwa_pathtracking_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/dwa_pathtracking.ipynb

Path Tracking with Obstacle Avoidance

dwa_obstacle_avoidance_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/dwa_obstacle_avoidance.ipynb

State Lattice Planner

State Feedback Control

state_feedback_pathtracking_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/state_feedback.ipynb

Linear Quadratic Regulator

lqr_pathtracking_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/lqr.ipynb

Model Predictive Control

Model Predictive Path-Integral Control

Simple Path Tracking

mppi_pathtracking_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/mppi_pathtracking.ipynb

Path Tracking with Obstacle Avoidance

mppi_obstacle_avoidance_demo.mp4

cd path_tracking_catalog
poetry run jupyter notebook notebooks/mppi_obstacle_avoidance.ipynb

Name	Name	Last commit message	Last commit date
Latest commit History 63 Commits
media	media
notebooks	notebooks
.gitignore	.gitignore
.python-version	.python-version
LICENSE.txt	LICENSE.txt
README.md	README.md
poetry.lock	poetry.lock
pyproject.toml	pyproject.toml

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Path Tracking Catalog

Setup

Vehicle Models for Simulation

Definition of Coordinate Systems

Dynamic Bicycle Model

Kinematic Bicycle Model

Unicycle Model

Control Algorithms

Bang-Bang Control

PID Control

Pure-Pursuit Control

Stanley Control

Fuzzy Logic Control

Dynamic Window Approach

Simple Path Tracking

Path Tracking with Obstacle Avoidance

State Lattice Planner

State Feedback Control

Linear Quadratic Regulator

Model Predictive Control

Model Predictive Path-Integral Control

Simple Path Tracking

Path Tracking with Obstacle Avoidance

Sliding Mode Control

Q-Learning

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Path Tracking Catalog

Setup

Vehicle Models for Simulation

Definition of Coordinate Systems

Dynamic Bicycle Model

Kinematic Bicycle Model

Unicycle Model

Control Algorithms

Bang-Bang Control

PID Control

Pure-Pursuit Control

Stanley Control

Fuzzy Logic Control

Dynamic Window Approach

Simple Path Tracking

Path Tracking with Obstacle Avoidance

State Lattice Planner

State Feedback Control

Linear Quadratic Regulator

Model Predictive Control

Model Predictive Path-Integral Control

Simple Path Tracking

Path Tracking with Obstacle Avoidance

Sliding Mode Control

Q-Learning

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