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--- ece4580:module_autonav [2017/04/12 19:40] – [Week #4: Consistent Operation] pvela
+++ ece4580:module_autonav [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 69: / Line 69: @@
   - 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.  You may have to implement a closed loop control scheme, like discuss in the ECE4560 Turtlebot adventures. 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 follow the trajectory heading angle computation.
+Hopefully that makes sense.
+You will have to implement a closed loop control scheme, like discussed in the [[Turtlebot:Adventures:Sensing101|ECE4560 Turtlebot adventures]]. The module for those adventures have two links to internal pages that discuss how to create a feedback control strategy for [[Turtlebot:Adventures:Sensing101_ThetaError|turning]] and for [[Turtlebot:Adventures:Sensing101_ForwardError|forward control]]. You'll need the latter, but it might be instructive to read both, as well as the original [[Turtlebot:Adventures:Sensing101|adventure topics]] to get an overall picture of what was being done.
+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 "follow the gap" trajectory heading angle computation.
 ===== Module #3: Dynamic Window Approach =====
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