Simple Path Tracker

asked 2020-01-22 12:06:36 -0600

TenderTadpole7 gravatar image

I have been a ros bag file with the position of the points the robot(car) is supposed to follow The rate of the bagfile is 50Hz I need to use a simplen PID to make the robot follow the path The pid has to be done for throttle and steering The published throttle is in range 0 to 1 and steering is supposed to be between - 12 and 12 degrees

What are the parameters I have to perform PID on? Also I have the current odometry of the robot(car)

PS:I'm new to path following and Im not supposed to use any planners

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This seems like a homework assignment... can you at least provide your thought process, what you've tried, breaking down the problem into components?

stevemacenski gravatar imagestevemacenski ( 2020-01-22 12:19:51 -0600 )edit

I've tried to use current points and previous points to get vectors and perform dot product on it to get the error for angle of steering and use the euclidean distance between the current points to get the error for throttle

TenderTadpole7 gravatar imageTenderTadpole7 ( 2020-01-22 12:24:02 -0600 )edit