Stanley control

Path tracking simulation with Stanley steering control and PID speed control.

Code Link

PathTracking.stanley_control.stanley_control.stanley_control(state, cx, cy, cyaw, last_target_idx)

Stanley steering control.

Parameters:

• state – (State object)

• cx – ([float])

• cy – ([float])

• cyaw – ([float])

• last_target_idx – (int)

Returns:

(float, int)

Reference

• Stanley: The robot that won the DARPA grand challenge

• Automatic Steering Methods for Autonomous Automobile Path Tracking