GARRF Kalam Zero Lab — Autonomous Steering & Automotive Engineering

Choose your preferred learning style:

Select a geometric trajectory tracking controller to load dynamic vehicle telemetry and steering responses into the virtual workbench:

Experiment 1: Pure Pursuit Steering Control

Geometry-based target lookahead distance ($L_d$) tracking along curved trajectories.

Experiment 2: Stanley Controller Error Minimization

Front-axle heading angle ($\theta_e$) and cross-track error ($e_{fa}$) feedback loop.

Experiment 3: High-Speed Slalom Stability Test

Transient vehicle dynamic response under aggressive lateral curvature tracking.

Interactive Workbench — Experiment 1: Pure Pursuit Steering Control ● Kinematic Model Active

Active Control Algorithm

Vehicle Velocity ($v$): 2.0 m/s

Lookahead Distance ($L_d$): 60 m

Steering Angle

0.0°

Cross-Track Error

0.00 m

Vehicle Yaw Direction

0.0°

How to operate the experiment:

Keep Chitti open at the bottom right to listen to verbal step-by-step guidance.
Choose between Experiment 1, 2, or 3 from the Lab Modules panel above.
Adjust the Vehicle Velocity ($v$) and Lookahead Distance ($L_d$) sliders on the left.
Click the blue Pause / Resume button to test the tracking performance.

Answer the question below to verify your understanding:

Question: What is the main objective of Experiment 2 (Stanley Controller)?

Welcome my dear student! Select one of the three experiments above, then click Pause / Resume to observe vehicle trajectory tracking!

Gopalkrishna Advanced Rural Research Foundation (GARRF)