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Trajectory Follower#

This is the design document for the trajectory_follower package.

Purpose / Use cases#

This package provides the library code used by the nodes of the trajectory_follower_nodes package. Mainly, it implements two algorithms: - Model-Predictive Control (MPC) for the computation of lateral steering commands. - @subpage trajectory_follower-mpc-design - PID control for the computation of velocity and acceleration commands. - @subpage trajectory_follower-pid-design

Related issues#

  • https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1057
  • https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1058
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