Add examples for Car line following and Platoon#6
Open
ChadliaJerad wants to merge 17 commits into
Open
Conversation
…tly fires forward than backward
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR introduces a sensor-rich car model used in two examples: line following and platooning.
The car is equipped with 5 line sensors and 2 range finders (front and rear).
The model is designed in a modular and composable way, with the track defined in a separate model file for reuse and clarity.
CarLineFollow.lfimplements a PD controller for line following using the line sensors.kpandkdcan be frther tuned.CarPlatoon.lfdefines a platoon of three cars and applies the same control principles as the line follower.The current platooning implementation is basic and does not yet exploit the range finders.
Next steps are extending and incorporating inter-vehicle spacing using front and rear distance measurements.