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Autonomous path following (Pure Pursuit/Ramsete) using Quintic Hermite splines and trapezoidal motion profiles.

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Name		Name	Last commit message	Last commit date
Latest commit History 91 Commits
img		img
src/main/java/com/github/mittyrobotics		src/main/java/com/github/mittyrobotics
.gitignore		.gitignore
README.md		README.md
build.gradle		build.gradle
gradlew		gradlew
gradlew.bat		gradlew.bat
path-following.iml		path-following.iml

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path-following

Library:https://jitpack.io/#MittyRobotics/path-following/1.3.1

Technical PDF:https://andyli23.github.io/path_following.pdf

Check outTKO Path Sim for a fully compatible path planner and 2D/3D visualizer!

Quintic hermite splines
Controllable trapezoidal motion profile with limited angular velocity
Runs in real-time using fast estimation techniques like Gauss-Legendre quadrature and modified Newton-Raphson method
Pure Pursuit and Ramsete Path Following Algorithms
Fully documented & libraritized

Path Following in Action!

2022 Silicon Valley Regional, Qualification 89

path-following.mp4

Graphical path visualiser:

Adjusting the path and spline:

Exporting the path and spline:

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Autonomous path following (Pure Pursuit/Ramsete) using Quintic Hermite splines and trapezoidal motion profiles.

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frc frc-java path-following pure-pursuit

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