README in progress...
In this small summer project I unified the Fourier animations method discussed in the michaelnaps/four repository with the michaelnaps/mpc repo to drive a differential drive robot (Roomba) around a curved path in simulation. A more thorough description of the process will be written in the future, but for now an example is shown below...
Legend:
- Red points = reference trajectory
- Green dot/line = Vehicle position/path
- Black dot/line = Marker position/path