ROS Controllers

• MPC
• PID
• Pure Pursuit
• Stanley

MPC library uses casadi and eigen libraries

This results are getted via this config;

/ros_controllers_node:
  ros__parameters:
    PID:
      linear_velocity:
        Kp: 0.5
        Ki: 0.02
        Kd: 0.0
        error_threshold: 0.1
        signal_limit: 0.5
      angular_velocity:
        Kp: 2.0
        Ki: 0.0
        Kd: 0.0
        error_threshold: 0.1
        signal_limit: 0.52359877559
    Stanley:
      V: 0.25  
      K: 0.8
      error_threshold: 0.05
      signal_limit: 0.52359877559
    PurePursuit:
      lookahead_distance: 0.30
      constant_velocity: 0.25
      error_threshold: 0.1
      signal_limit: 0.52359877559
    MPC:
      horizon: 20
      error_threshold: 0.1
      signal_limit: 0.52359877559
      Q: [30.0 , 30.0, 1000.0]
      R: [0.1, 0.1]
    vehicle_base_width: 0.14
    sleep_time: 100 # miliseconds
    csv_folder_name: "/home/furkan/controller_ws/src/ros_controllers/results/"

PID Result

Stanley Result

Pure-Pursuit Result

MPC Result

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PID Errors

Continuous Error for PID

Discrete Error for PID

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Stanley Errors

Continuous Error for Stanley

Discrete Error for Stanley

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Pure-Pursuit Errors

Continuous Errors for Pure-Pursuit

Discrete Erros for Pure-Pursuit

MPC Errors

Continuous Errors for MPC