# auto_algorithm

**Repository Path**: yang_k1/auto_algorithm

## Basic Information

- **Project Name**: auto_algorithm
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-07-17
- **Last Updated**: 2025-07-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

auto_algorithm

# 控制算法

### 1.流程

![image-20250717190017550](/home/yk/.config/Typora/typora-user-images/image-20250717190017550.png)

### 2.PID控制

(1)P控制

![image-20250717190429528](/home/yk/.config/Typora/typora-user-images/image-20250717190429528.png)

(2)PD控制

![image-20250717191057779](/home/yk/.config/Typora/typora-user-images/image-20250717191057779.png)

(3)PID控制

![image-20250717191246100](/home/yk/.config/Typora/typora-user-images/image-20250717191246100.png)

![image-20250717194128037](/home/yk/.config/Typora/typora-user-images/image-20250717194128037.png)

![image-20250717201720642](/home/yk/.config/Typora/typora-user-images/image-20250717201720642.png)

### 3.Pure Pursuit

车辆简化的运动学模型

![image-20250717202815770](/home/yk/.config/Typora/typora-user-images/image-20250717202815770.png)

![image-20250717205319343](/home/yk/.config/Typora/typora-user-images/image-20250717205319343.png)

![image-20250717211234775](/home/yk/.config/Typora/typora-user-images/image-20250717211234775.png)

### 4.Stanley

![image-20250717211740995](/home/yk/.config/Typora/typora-user-images/image-20250717211740995.png)

![image-20250717214709334](/home/yk/.config/Typora/typora-user-images/image-20250717214709334.png)