Path Tracking

I though path tracking was a trivial problem. That is, when you generate a path (a set of waypoints), getting a vehicle to follow that path.

At slower speeds, it is indeed trivial. But at high speeds, it can get pretty difficult. I’ve had first-hand experience with this through the F1TENTH.


Path Tracking Implementations

The Key Difficulty in Path Tracking

After playing arouund These are basically the same issues that you face with PID Control.

  • high gain = more accurate tracking, but more oscillations
  • low gain = less oscillations, but poor tracking

Path Smoothing

Consider using Clothoid. ^but this paper is for Differential Drive robots

From ChatGPT, I learned about Savitzky-Golay filter