trajectory_tracking_simulation

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

Currently available controller

• pure-pursuit
• PID
• MPC (use Optimization Toolbox)
• MPC without constraint

Parameters

parameters are all set in /simulation/main.m

simulation

• simulation_time : overall simulation time
• simulation_rk4_time_step : time span for integrate dynamics

path

• vel_ref : reference speed [m/s]

simulated vehicle model

• 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

controllers

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