TruckTrix^® Control

Mobile machine tracking control algorithm (maybe toolbox →  config / draw / use vehicle-json vehicle structure and get equations / ready controller for commanding steering angle.)

Lateral path tracking controller considering full complex vehicle state

• Position x,y
• Orientation theta
• Steering angle delta / Curvature kappa

Algorithms take advantage of full vehicle state output from TruckTrix^® path planners → Path described as path points or spline

Meant to work perfectly together with TT-Family.

• Precise vehicle spatial control along a given track
• Complex vehicle guidance
• Ready-to-use test bench for vehicles that need to be precisely positioned
• Focus on what's important in your project
• Seamless integration with helyOS^® and TruckTrix^® family

• Anyone who has a robot that needs to follow a given track precisely
• Researchers with their prototypes
• Manufacturers of autonomous mobile machines

This package provides a simple interface to keep your vehicle on track, saving you months of work building and tuning your own steering control system.

Plug-and-play configurable tracking controller

Get up and running faster than ever with TT-Family: T²-Family

1. Configure the vehicle structure
2. Input: TruckTrix^®TruckTrackTrajectory (T^5) to follow and robot pose
3. Output: Steering angle for the vehicle to follow the desired track