Stanley control
---------------

Path tracking simulation with Stanley steering control and PID speed
control.

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/stanley_controller/animation.gif

Code Link
~~~~~~~~~~~~~~~

.. autofunction:: PathTracking.stanley_control.stanley_control.stanley_control


Reference
~~~~~~~~~~~

-  `Stanley: The robot that won the DARPA grand
   challenge <http://robots.stanford.edu/papers/thrun.stanley05.pdf>`_

-  `Automatic Steering Methods for Autonomous Automobile Path
   Tracking <https://www.ri.cmu.edu/pub_files/2009/2/Automatic_Steering_Methods_for_Autonomous_Automobile_Path_Tracking.pdf>`_
