Abstract
The purpose of this chapter is to demonstrate the implementation of the control methodologies presented in the last chapter. This chapter will also highlight the points to be taken into consideration when implementing different controllers in different scenarios. Note that, all control methods presented in the last chapter will be applied to offset models described in Chap. 3. The offsets we used are the lateral offsets and the heading offsets. As such, the primary aim of the controllers implemented in this chapter is to drive these offsets to zero.
Cite
CITATION STYLE
Taghia, J., & Katupitiya, J. (2020). Implementation of Controllers. In Springer Tracts in Advanced Robotics (Vol. 138, pp. 89–117). Springer. https://doi.org/10.1007/978-3-030-42359-9_5
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