Expand description
LQR Speed and Steering Control path tracking algorithm
Extends LQR steer control with speed control, tracking both lateral and longitudinal errors. The state vector is 5-dimensional: x = [e, dot_e, th_e, dot_th_e, delta_v] and the input vector is 2-dimensional: u = [delta, accel]
Reference: PythonRobotics lqr_speed_steer_control
author: Atsushi Sakai (@Atsushi_twi) Ryohei Sasaki (@rsasaki0109)
Structsยง
- LQRSpeed
Steer Config - Configuration for LQR Speed and Steer Controller
- LQRSpeed
Steer Controller - LQR Speed and Steer path tracking controller
- LQRSpeed
Steer Vehicle State - Vehicle state for LQR speed+steer controller