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Tuple<Trajectory, CurrentPose, VehicleKinematics> -> ControlCommand
Calculate optimal steering and acceleration commands over a finite time horizon by solving a quadratic programming problem based on a kinematic vehicle model.
Problem it solves
Following a reference path smoothly and precisely while adhering to physical vehicle limits.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.