ece4580:module_autonav
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| ece4580:module_autonav [2017/04/12 19:38] – [Week #4: Consistent Operation] pvela | ece4580:module_autonav [2024/08/20 21:38] (current) – external edit 127.0.0.1 | ||
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| - One way to drive through the gap is to set up a secondary goal position that is beyond the goal along the normal $\vec n = (n_1, n_2)$ to the line by a distance $2 d_\tau$, as in $p_{past} = p_{gap} + 2 d_\tau \vec n$. When you get to the transition line (from negative to positive), then switch to this new goal and drive towards it until going a distance of $d_\tau$ past the transition line. Switch back to the go to goal state. | - One way to drive through the gap is to set up a secondary goal position that is beyond the goal along the normal $\vec n = (n_1, n_2)$ to the line by a distance $2 d_\tau$, as in $p_{past} = p_{gap} + 2 d_\tau \vec n$. When you get to the transition line (from negative to positive), then switch to this new goal and drive towards it until going a distance of $d_\tau$ past the transition line. Switch back to the go to goal state. | ||
| - | Hopefully that makes sense. | + | Hopefully that makes sense. |
| + | You will have to implement a closed loop control scheme, like discussed in the [[Turtlebot: | ||
| + | Use your odometry to estimate where you are and where the intermediate goal positions are. Some of the above may need to be properly integrated with the " | ||
| ===== Module #3: Dynamic Window Approach ===== | ===== Module #3: Dynamic Window Approach ===== | ||
| -------------------------------- | -------------------------------- | ||
ece4580/module_autonav.1492040328.txt.gz · Last modified: 2024/08/20 21:38 (external edit)