Potato development
Overall introduction
This project is regarded as the ground vehicle part of the development of the simulation platform – Potato. The simulation platform is under a project supported by the Ministry of Science and Technology. I need to develop a ground vehicle dynamic model and a controller for the vehicle to follow a given path.
Methods
First, I use the dynamic model in the articleLearning-Based Model Predictive Control for Autonomous Racing to design the dynamic model of the ground vehicle. I simplify the model, so that we control the steering angle and throttle. Then, I use a vector field to indicate the desired state, so that we can use PID to control the vehicle.