Path tracking is the ability of a robot to follow the reference path generated by a path planner while simultaneously stabilizing the robot. The path tracking controller may need to account for modeling error and other forms of uncertainty. In path tracking, feedback control techniques and optimization based control techniques are widely used[22]. Fig.6 shows simulations using rear wheel feedback steering control and PID speed control, and iterative linear model predictive path tracking control[27].
.. toctree:: :maxdepth: 2 :caption: Contents pure_pursuit_tracking/pure_pursuit_tracking stanley_control/stanley_control rear_wheel_feedback_control/rear_wheel_feedback_control lqr_steering_control/lqr_steering_control lqr_speed_and_steering_control/lqr_speed_and_steering_control model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control cgmres_nmpc/cgmres_nmpc move_to_a_pose/move_to_a_pose