For developing trajectory tracking algorithm with MATLAB.
Run /simulation/main.m to compute trajectory tracking simulation.
Reference path is designed in /path_design/path_design.m using spline from used-defined reference points.
・MPC
・PID
・pure pursuit
- pure-pursuit
- PID
- MPC (use Optimization Toolbox)
- MPC without constraint
parameters are all set in /simulation/main.m
- simulation_time : overall simulation time
- simulation_rk4_time_step : time span for integrate dynamics
- vel_ref : reference speed [m/s]
- param.tau : steering dynamics 1d-approximated time constant [s]
- param.wheelbase : wheelbase length [m]
- param.steer_lim : tire angle limit [rad]
- param.vel_max : max velocity limit [m/s]
- param.vel_min : min velocity limit [m/s]
- param.input_delay : input delay [s]
- param.measurement_noise_stddev : measurement noise standard deviation for [pos x[m], pos y[m], heading[rad], steering[rad]]
- param.steering_steady_state_error_deg : steady state error for steering model
for all
- param.control_dt : control time span (zero order hold) [s]
for pure-pursuit
- param.pure_pursuit_lookahead : lookahead distance for pure-pursuit controller [m]
for mpc
- param.mpc_dt : time span for prediction
- param.mpc_n : step numbers for prediction
- param.mpc_constraint_steering_deg : steering limit constraint for optimization problem
- param.mpc_constraint_steer_rate_deg : steering rate limit constraint for optimization problem
- param.mpc_model_dim : mpc state model dimension
- param.mpc_Q : state weight matrix for optimization
- param.mpc_R : input weight matrix for optimization
- param.mpc_sensor_delay : for sensor delay compensation