A library for generating spline-based paths for robots.
The “squiggles” created by this path generation library allow for smooth, fast autonomous movements. Robots can follow the generated paths through the use of the wheel velocities calculated at each point along with an appropriate feedback controller.
1. Install the Library
The list of installation options and their instructions can be found in Installation.
2. Find Your Robot’s Constraints
The guide in Constraints should help you identify the size and speed of your robot.
3. Generate Some Paths
4. Add a Closed Loop Controller
It is possible to directly command the generated wheel velocities to a robot but any mismatch between your robot measurements and reality will cause your robot to go off course. Writing a closed-loop path following controller is an exercise left to the reader but the Controller Suggestions document has some tips to help get you started.