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What is LQR Control for F1TENTH Path Tracking about?
This document summarizes a study on using LQR-based optimal control methods for path tracking in autonomous racing. It constructs a lateral kinematic vehicle model for the autonomous vehicle in the F1TENTH simulation environment. It then implements two LQR-based control methods - LQR steering control and LQR steering speed control. It analyzes the performance of these two LQR methods compared to pure pursuit and Stanley methods using benchmarks from F1TENTH racetracks.
- Author
- api-643297699
- Language
- EN