Skip to content

Stanley Controller #204

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
hhxjqm wants to merge 2 commits into from
Closed

Stanley Controller #204

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
c6bd660
Implement Stanley controller with reverse logic
hhxjqm May 13, 2025
d420e55
update current.yaml
hhxjqm May 14, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions GEMstack/knowledge/defaults/current.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,10 @@ control:
lookahead_scale: 3.0
crosstrack_gain: 1.0
desired_speed: trajectory
stanley:
control_gain: 1.5
softening_gain: 0.2
desired_speed: trajectory
longitudinal_control:
pid_p: 1.0
pid_i: 0.1
Expand Down
Loading