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The Controllers: Intermediate Report

Modified 2018-04-29 by Andrea Censi

Intermediate Report Supervisors
System Architects Sonja Brits, Andrea Censi
Software Architects Breandan Considine, Liam Paull
Vice President of Safety Miguel de la Iglesia, Jacopo Tani
Data Czars Manfred Diaz, Jonathan Aresenault

Conventions used in the following document
Variable Description
$d_{ref}$ Reference distance from center of lane
$d_{act}$ Actual distance from center of lane
$d_{est}$ Estimated distance from center of lane
$\theta_{act}$ Actual angle between robot and center of lane
$\theta_{est}$ Estimated angle between robot and center of lane
$c_{act}$ Actual curvature of lane
$c_{est}$ Estimated curvature of lane
$c_{ref}$ Reference curvature of the path to follow
$v_{ref}$ Reference velocity

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