[ODE] nonholonomic vehicle path following

Nguyen Binh ngbinh at gmail.com
Fri Jun 8 15:09:01 MST 2007

I believe that ODE doesn't focus on such kind of application. ODE's
integrator and solver is not accurate enough for these tasks. My only
suggestion is switching to old "big-matrix" solver might help you.

On 6/7/07, Ke <kxubb at yahoo.com> wrote:
> Hello All,
> I am doing a project in ODE,simulating a 4-wheeled
> nonholonomic vehicle to follow a given reference path.
> Our control algorithm (velocity control) can give out
> vehicle linear velocity and angular velocity of
> vehicle.
> But when we apply such velocity into ODE,after
> converting them into the ODE Hinge joint
> parameters(dParamVel) of rear-driving wheels and
> front-steering wheels, the vehicle just won't not
> follow the given path exacly no matter how we tune-up
> all these parameters.
> Here is my questions,
> What parameters are more imporatant in this path
> following problem?
> Any related project available for my references?
> One more general question- Can ODE do well in the path
> following/tracking problems?
> Any suggestions is appreciated.
> Thank you for your time.
> Sincerely,
> Ke
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Binh Nguyen
Computer Science Department
Rensselaer Polytechnic Institute
Troy, NY, 12180
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