Tracking PID

Overview

Tracking PID offers a tuneable PID control loop to accurately follow a trajectory. An interpolator moves a goal over a nav_msgs/Path with a tuneable velocity, and a separate node tracks the given point.

The PID contains three loops: Longitudinal, lateral and angular loops. Source code at https://github.com/nobleo/tracking_pid.

Tracking a carrot

One of the tracking options uses a carrot of length l in front of the robot to determine the velocity commands based on the lateral and longitudinal error between current Global Point (GP) and the Control point (CP):

Tracking the base link

If a smooth path is provided, the controller has the option to track the path with the base_link directly instead of lagging behind a carrot. In this case a Projected Global Point (PGP) is computed as well which is tracked by the CP.

Tutorials

See tracking_pid/Tutorials.

Acknowledgement