This repository contains two basic tutorials for designing a kinematic controller for autonomous vehicles. In the first notebook, we show a simple implementation for computation of the feedback gains for the gain scheduling.

The second notebook contains methods on how to compute a reference point on the given reference path and path following lateral and yaw deviation errors which are used for error dynamics and error feedback.

For the equations and citation please refer to:

• A tutorial on autonomous vehicle steering controller design, simulation and implementation

     @article{boyali2018tutorial, <br>
      title={A tutorial on autonomous vehicle steering controller design, simulation and implementation},<br>
      author={Boyali, Ali and Mita, Seichi and John, Vijay},<br>
      journal={arXiv preprint arXiv:1803.03758},<br>
      year={2018}<br>
    }