how to handle multiple way-points for 2D path following
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William Campbell on 22 Feb 2020
I am trying to generate a path following profile from multiple way-points that I generated from path planning. My path following algorithm is in a MatLab function within a Simulink model which includes a controller and a simple kinematic model. I can run the Simulink model each time for one pair of successive way-points and get a sensible path between these successive way-points, but am struggling to feed in all 'pairs' of waypoints through the simulation and get an xy profile of the whole path. Am I approaching this problem from the correct angle ie asking the controller to calculate a path between each successive pair of way-points and plot the overall profile.
Amrtanshu Raj on 13 Sep 2021
As per my understanding you have a set of waypoints and want to get a path through those points. You can use the purePursuit controller and step it to get a complete path. It also lets you add constraints to the motion.