# Ackermann Trajectory Tracking

**Repository Path**: yaadon/ackermann-trajectory-tracking

## Basic Information

- **Project Name**: Ackermann Trajectory Tracking
- **Description**: ackermann轨迹跟踪控制器
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-03-31
- **Last Updated**: 2023-05-12

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 全地形Ackermann转向车辆轨迹跟踪

## 一、摘要
基于Ackermann转向运动学模型，设计Lyapunov稳定的控制器完成车辆的轨迹跟踪控制，并提供MATLAB仿真代码

## 二、效果

1. 误差

![svg](https://gitee.com/yaadon/ackermann-trajectory-tracking/raw/master/images/%E8%AF%AF%E5%B7%AE.svg)

2. 速度

![svg](https://gitee.com/yaadon/ackermann-trajectory-tracking/raw/master/images/%E9%80%9F%E5%BA%A6.svg)

3. 轨迹跟踪

![gif](https://gitee.com/yaadon/ackermann-trajectory-tracking/raw/master/images/%E8%BD%A8%E8%BF%B9%E8%B7%9F%E8%B8%AA5.gif)

## 三、参考文献
1. [Kinematic trajectory tracking controller for an all-terrain Ackermann steering vehicle](https://www.sciencedirect.com/science/article/pii/S2405896316308606)
2. [Kinematic time-invariant control of a 2D nonholonomic vehicle](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=831231&tag=1)