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Djump
The path fig8 is composed by 649 control points for a total length of 9465.53 millimeters. The angle difference between two consecutive segments is delta = 0.9 degrees. We set the maximum distance of the car from the path to be xmax = 30cm (which is realistic with the current steer control performances). Assuming the car x coordinate (distance from the path) to be constant at xmax, we can compute Djump = 649 * delta * xmax = 3058.34mm which is the 32.31% of the path length.
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LATERAL MODEL
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Work in Progress. A non-linear model for the steer is currently under identification. This phase will drive the steer controller design.
DISTRUBANCES ANALYSIS CONCLUSION
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- peaks in CPS speed are likely to be caused by position leaps between cameras;
- CPS speed average is above the one measured with the encoder.
STEER CONTROLLER
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LINEAR MODEL
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The linear model used for the steer controller design is described by the block diagram in Figure.
DOCUMENTATION EXPANSION
These are likely to be expanded and moved on the main wiki page at some point.
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