Control

Domain Description

The control sub-directory contains nodes and libraries related to the controller functionalities of the vehicle. Packages under this directory enable the autonomous vehicle to follow a reference trajectory appropriately by converting the input trajectory into longitudinal and lateral commands. To ensure safety, testing framework modules and libraries which report errors and system statistics regarding the controller may also be packages under this directory.

Subpages

• Controller Base Design
• Controller Design
• Controller Reference Implementation
• Controller Testing
• Model-Predictive Control Controller
  • MPC Controller Design
• Pure Pursuit Controller
  • Pure pursuit
  • Pure pursuit nodes