This submission contains a set of models to show the implementation of a pure pursuit controller on a vehicle under different scenarios. About the models: These models show a workflow to implement a pure pursuit controller to track a planned path. Steps below describe the workflow:
1. Generating waypoints
2. Formulating required steering angle for lateral control
3. Implementing a longitudinal controller to track the path at higher velocity
4. Visualizing vehicle final path in Bird's-Eye Scope and a 3D simulation environment.
To learn more about the workflow, watch this video: https://www.youtube.com/watch?v=zMdoLO4kRKg
Please write to email@example.com with any questions or suggestions.
For R2020b: Click on "Download from GitHub" button above.
For R2020a: https://github.com/mathworks/vehicle-pure-pursuit/archive/v1.0.1.zip
MathWorks Student Competitions Team (2021). Vehicle Path Tracking Using Pure Pursuit Controller (https://github.com/mathworks/vehicle-pure-pursuit/releases/tag/v1.1.1), GitHub. Retrieved .
Thank u so much for giving me the solution.Now the question is solved.
立钊 冯, thank you for your feedback. With R2020b version, 'velNorm' has been added in the 'Vehicle XY Plotter.' We have updated the files. Please try running the updated models and let us know if you have face any issues.
the 2D Visualization can't work...could u please give me the solution.Thanks.
reason:the velNorm doesn't exist.
thanks for the support, now it is working well.. Well done
Thanks for reaching out.
There was an issue with the USCity.mat file location in the “Scenario Reader” block. We have resolved the issue and updated the files. Please download the updated version and let us know if you encounter any issues.
Hi, when simulating in Matlab R2020a I have encountered an error:
"Expression 'BusActorsActors' for type of data 'egoActor' did not evaluate to a valid type." in purePursuitUSCity simulink model. How can I solve this?
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