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Algorithm for Line-Following Robot

Hello,

I'm using ROS melodic in order to simulate an AGV with differential drive and two caster wheels (on the front and back). The 3D simulation in gazebo is the main focus.

It is supposed to receive a velocity and follow a line on the ground. I'd also like to specify the dynamics (acc/dec etc.) without using a too detailed physic simulation.

Are there pre-made algorithms for something similiar? e.g. following a premade trajectory with a set speed.

Thank you