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(video) Path Tracking and Vehicle Control Testing

This video shows the simulation and visualization platform being used to test the performance of path following and vehicle control layers.
A unit test case of a sine curve path is given as input to the path follower. Path following layer in this case is a non linear controller which tracks cross track error(CTE) continuously and keeps the vehicle on the path.
CTE, shown in the graph reduces to near zero with time, after starting from an initial error. Manual control is used to create external disturbance to the system and the subsequent performance of the path follower can be observed.

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