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Thank you fro responding !The vehicle drifts with each circle it executes . I will post some of the code changes I made . I did notice that the Carbot example with Ros executes a perfect circle repeatably.

Thank you fro for responding !The !

I have solved this the vehicle drifts with each circle it executes drift issue .. a few points 1. Had the rear wheels turning. Fixed that 2. Calculated inner and outer wheel angles based on Ackerman and fixed them as limits. 2. In order to test this without a closed loop I provided steering and gas continuously and calculated the radius of curvature for 0.1 and 0.2 radians s = wheel base a = steering wheel angle n = steering ratio (e.g. for 16:1, n = 16) r = radius of curvature, in the same units as the wheel base So: r = s / (sqrt(2 - 2 * cos(2*a/n)) . I will post some of the code changes I made . I did notice that the Carbot example with Ros executes a perfect circle repeatably. could observe ball park answers for these values

Further work .... 3. To test further I have to use a PID controller. 4. Must also eliminate arbitrary empirical constants like sway force , aero dynamic etc and get a more first principles approach 5. The input angle has to be rate limited ..