Control

• IndyAV Joydrive

Control Packages

No software developed yet.

Discussion

Initial development will start simple.

Pure Pursuit Steering Control

Initial implementations for the path tracking controller will be a pure pursuit controller

PID Speed Control

The speed control will consist of some combination of proportional, integral, and derivative. The error state will be the delta between a desired and measured forward speed.

Future Work

• MPC controller will probably be looked into.