Path Seeker Overview
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Most state of the art path tracking control algorithms require at least two pieces of information as inputs: the position of the vehicle with respect to the desired path (using two cartesian coordinates) and the heading angle error of the vehicle for any arbitrary position.
To construct an autonomous vehicle that is able to use a state of the art path tracking control algorithm would be extremely difficult in only four months. For this reason the team decided to limit the project to construct a vehicle that uses only position information for a limited range of path deviations.
To control the vehicle, the team decided to use a simple Proportional-Integral-Derivative Controller (PID) based control algorithm.