Kinematics-Only Differential Flatness Based Trajectory Tracking for Autonomous Racing
Yashom Dighe,Youngjin Kim,Smit Rajguru,Yash Turkar,Tarunraj Singh,Karthik Dantu,Yashom Dighe,Youngjin Kim,Smit Rajguru,Yash Turkar,Tarunraj Singh,Karthik Dantu
In autonomous racing, accurately tracking the race line at the limits of handling is essential to guarantee competitiveness. In this study, we show the effectiveness of Differential Flatness based control for high-speed trajectory tracking for car-like robots. We compare the tracking performance of our controller against Nonlinear Model Predictive Control and resource use while running on embedded...
