path-following

Library: https://jitpack.io/#MittyRobotics/path-following/1.3.1

Technical PDF: https://andyli23.github.io/path_following.pdf

Check out TKO Path Sim for a fully compatible path planner and 2D/3D visualizer!

• Quintic hermite splines
• Controllable trapezoidal motion profile with limited angular velocity
• Runs in real-time using fast estimation techniques like Gauss-Legendre quadrature and modified Newton-Raphson method
• Pure Pursuit and Ramsete Path Following Algorithms
• Fully documented & libraritized

Path Following in Action!

2022 Silicon Valley Regional, Qualification 89

path-following.mp4

Graphical path visualiser:

Adjusting the path and spline:

Exporting the path and spline: