A collection of path and trajectory followers for various drive types.
class GVFFollower : PathFollower
State-of-the-art path follower based on the GuidingVectorField. |
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class HolonomicPIDVAFollower : TrajectoryFollower
Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to determine the velocity correction. The feedforward components are instead applied at the wheel level. |
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abstract class PathFollower
Generic Path follower for time-independent pose reference tracking. |
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class RamseteFollower : TrajectoryFollower
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf. |
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class TankPIDVAFollower : TrajectoryFollower
Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level. |
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abstract class TrajectoryFollower
Generic Trajectory follower for time-based pose reference tracking. |