| Class | Description |
|---|---|
| GVFFollower |
State-of-the-art path follower based on the
class GuidingVectorField. |
| HolonomicPIDVAFollower |
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.
|
| PathFollower |
Generic
class Path follower for time-independent pose reference tracking. |
| RamseteFollower |
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of
Ramsete01.pdf.
|
| TankPIDVAFollower |
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
class HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level. |
| TrajectoryFollower |
Generic
class Trajectory follower for time-based pose reference tracking. |