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