Kotlin Path Controllers

This repository contains time-varying and time-invariant vector and skid-steer path following algorithms.

GVF (Guiding Vector Fields)

https://arxiv.org/pdf/1610.04391.pdf

Pure Pursuit

https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1992_1/coulter_r_craig_1992_1.pdf

"RAMSETE"

Equations taken from Tyler Veness's book. https://file.tavsys.net/control/state-space-guide.pdf