P

pure pursuit

2D Vehicle Simulator

Implementation of vehicle simulator library uses for path tracking, by dynamic, navigation and control algorithms.

The vehicle dynamic is based on a kinematic bicycle model [ref 2] Vehicle longitudinal and lateral movement are controlled by PID and Pure pursuit tracking algorithm. Adhering to command line utility, which defines initial position, velocity and heading angle of the vehicle.

Lateral servo actuator controls the road wheel angle. The wheel actuator is implemented by 2nd order simplified servo-mechanical model between the command and the actual road wheel angle.

There is an option to add a random white noise to the heading angle and to the global position by localization_is_not_perfect flag.

The program is plotting in real time the desired and the actual path of the vehicle in global coordinates system, by show_animation flag.