MI
MittyRobotics/path-following
Autonomous path following (Pure Pursuit/Ramsete) using Quintic Hermite splines and trapezoidal motion profiles.
path-following
Library: https://jitpack.io/#MittyRobotics/path-following/1.3.1
Technical PDF: https://andyli23.github.io/path_following.pdf
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- Quintic hermite splines
- Controllable trapezoidal motion profile with limited angular velocity
- Runs in real-time using fast estimation techniques like Gauss-Legendre quadrature and modified Newton-Raphson method
- Pure Pursuit and Ramsete Path Following Algorithms
- Fully documented & libraritized
Path Following in Action!
2022 Silicon Valley Regional, Qualification 89
path-following.mp4
Graphical path visualiser:
Adjusting the path and spline:
Exporting the path and spline:
